The Worldwide Journal of Robotics Analysis, Forward of Print.
Continuum robots have nice software worth and broad prospects in varied fields as a result of their dexterity and compliance. To completely exploit their benefits, it’s essential to develop an efficient, correct and strong management system for them. Nevertheless, analysis on continuum robotic management continues to be in its infancy and there are lots of issues remaining unsolved on this subject. Specifically, this paper focuses on the task-space habits and the generic management of heterogeneous continuum robots. First, a controller is proposed to attain the kinematic movement management and visible servoing of continuum robots with predefined task-space habits. The predefined habits is twofold: prescribed task-space error and predefined convergence time. Then, the proposed controller is built-in with a velocity-level kinematic mapping estimator to acquire a model-free management system, which is relevant to heterogeneous continuum robots. Moreover, a re-adjustable efficiency operate is proposed to make sure the effectiveness and robustness of the proposed management system within the presence of exterior disturbance. Lastly, in depth simulations and experiments are carried out primarily based on heterogeneous continuum robots, together with the cable-driven continuum robotic, the parallel continuum robotic, the concentric-tube robotic, the versatile endoscope, and the pneumatic continuum robotic. Our outcomes exhibit that the task-space error of heterogeneous continuum robots complies with the prescribed boundaries and converges to regular state in predefined time, which reveals the efficacy of the proposed management methodology.
发布者：Ning Tan，转转请注明出处：https://robotalks.cn/behavior-predefined-adaptive-control-for-heterogeneous-continuum-robots/
