Position and Orientation Control for Hyperelastic Multisegment Continuum Robots

Shi，Jialei1; Abad，Sara Adela1; Dai，Jian Sheng2; Wurdemann，Helge A.1

2024

10.1109/TMECH.2023.3338955

IEEE/ASME Transactions on Mechatronics   影响因子和分区

1083-4435

1941-014X

Elastomer-based soft-continuum robots with an extensible backbone exhibit high flexibility. These manipulators might show nonlinear kinematic behaviors due to, for example, the material hyperelasticity and means of actuation. Formulating a reliable kinematic model for an effective inverse kinematics control strategy is challenging, but is paramount for allowing effective manoeuvrability and controllability. In this article, we devise a kinematic modeling and control method for pneumatic-driven soft-continuum robots (up to 100% elongation ratio). The method is based on the Cosserat rod model including a pressure-dependent dynamic modulus. The kinematic model and control strategy are then expressed as nonlinear least-squares optimization problems. Hence, various inverse kinematics control modes can be achieved for a multisegment robot, e.g., tip position and orientation control of the overall robot or tip position control of each segment. Simulations and experiments are both conducted to validate the proposed method. The results highlight the high fidelity of the modeling technique and the effectiveness of the proposed inverse kinematics controller. In particular, the modeling and trajectory control errors for a two-segment robot are smaller than 4.5 mm, i.e., 5% of the robot's overall length.

Fluidic-driven soft robots inverse kinematics control Kinematics kinematics modeling Mathematical models position and orientation control Position control Robot kinematics Robot sensing systems Robots Soft robotics

SCI ; EI

英语

其他

ENGINEERING

2-s2.0-85182923720

Scopus

1.Department of Mechanical Engineering, University College London, London, U.K
2.Institute for Robotics, Southern University of Science and Technology, Shenzhen, China

Shi，Jialei,Abad，Sara Adela,Dai，Jian Sheng,et al. Position and Orientation Control for Hyperelastic Multisegment Continuum Robots[J]. IEEE/ASME Transactions on Mechatronics,2024,PP(99):1-12.

Shi，Jialei,Abad，Sara Adela,Dai，Jian Sheng,&Wurdemann，Helge A..(2024).Position and Orientation Control for Hyperelastic Multisegment Continuum Robots.IEEE/ASME Transactions on Mechatronics,PP(99),1-12.

Shi，Jialei,et al."Position and Orientation Control for Hyperelastic Multisegment Continuum Robots".IEEE/ASME Transactions on Mechatronics PP.99(2024):1-12.