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Αλέξανδρος Γ. Σφακιανάκης

Wednesday, January 27, 2021

Dynamic Model and Control for A Cable‐driven Continuum Manipulator Used for Minimally Invasive Surgery

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Abstract

Background

Due to its unique flexible and dexterity, continuum robot has been widely used in small constrained environment. However, those advantages also bring that Motion modeling and accurate control for the continuum robot is more complicated and tedious. A dynamic model and control strategy is presented for improving its control performance.

Methods

The kinematics and velocity model of the robot is derived. And the inertial force, elastic force, gravity and actuation force applied to the continuum robot are analyzed, respectively. Meanwhile, the friction in drive system is investigated and dynamic model is established by the Kane's method. Finally, a motion control strategy is proposed based on this model to verify the dynamic model.

Results

Results of the simulation and experiment of a prototype verify the proposed model and its control method.

Conclusions

The proposed model and control strategy can be used to achieve the bending deformation of the robot.

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