A new approach of friction model for tendon-sheath actuated surgical systems: Nonlinear modelling and parameter identification

N., T.; Tjahjowidodo, Tegoeh; Lau, Michael Wai Shing; Phee, Soo Jay

doi:10.1016/j.mechmachtheory.2014.11.003

Cited by 68 publications

(45 citation statements)

References 43 publications

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“…The transmission characteristics of the CCM were investigated by Do et al [12], [42]. Suppose that the cable initially moves towards the end effector (see Fig.…”

Section: Problem Formulationmentioning

confidence: 99%

Position Control of Asymmetric Nonlinearities for a Cable-Conduit Mechanism

Nho

Tjahjowidodo

Lau

et al. 2017

IEEE Trans. Automat. Sci. Eng.

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Cable-conduit mechanism (CCM) is widely used in robotic hands, rescue robots, rehabilitation robots, and surgical robots because it offers efficient transmission of forces/torques from the external actuator to the end effector with lightweight and high flexibility. However, the accurate position control is challenging in such mechanism due to friction and backlash-like hysteresis between the cable and the conduit. In this paper, a new control approach is proposed to enhance the trajectory tracking performances of the CCM. Unlike current approaches for the CCM in the literature, the proposed scheme considers the position transmission of the CCM as an approximation of backlash-like hysteresis nonlinearities without requiring the exact values of model parameters and their bounds. Online approximation-based robust control laws, which have the capabilities of estimating unknown system parameters, are also established. In addition, the deigned controller can adapt to any changes of the cable-conduit configuration and it is stable. The results of the proposed control techniques have been experimentally validated on a flexible robotic system using a flexible endoscope. Experimental validations show substantial improvements on the performances of position tracking for the use of CCM regardless of the arbitrary changes of the cable-conduit configurations.Note to Practitioners-This paper was motivated by the achieving high accuracy of positioning the CCM. Existing approaches on the CCM only consider the control and modeling problems when the cable-conduit configuration is unchanged or little changed and the exact values of model parameters are required. This paper suggested new approaches on the control problems of the CCM regardless of the changes of the cable-conduit configuration. We mathematically modeled and designed a controller using nonlinear and adaptive algorithm. The exact values of nonlinear model parameters were not required and only their bounds were estimated. Experimental validations were carried out on a real flexible robotic system and the results demonstrated feasible practical applications. In future research, we will apply the proposed control scheme to higher degrees of cable-conduit mechanism-driven robotic systems using non-conventional sensors like magnetic trackers or image processing to provide the output position feedback.

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“…The transmission characteristics of the CCM were investigated by Do et al [12], [42]. Suppose that the cable initially moves towards the end effector (see Fig.…”

Section: Problem Formulationmentioning

confidence: 99%

Position Control of Asymmetric Nonlinearities for a Cable-Conduit Mechanism

Nho

Tjahjowidodo

Lau

et al. 2017

IEEE Trans. Automat. Sci. Eng.

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“…This method usually models the TSS as one element, as shown in Figure 4(b). To model nonlinear effect, various types of Bouc-Wen models [18][19][20] and Dahl models [21][22] have been used. Do et al 22 proposed a promising modified Dahl model as follows…”

Section: Theoretical Backgroundmentioning

confidence: 99%

“…The parameters of the continuous dynamic model were predicted using the Nelder-Mead simplex method. 21 The control schemes for flexible configurations were then compared with three other methods: the conventional feedback control scheme, the feedforward control scheme and the adaptive control scheme.…”

Section: Experimental Evaluation Of Control Schemes For Flexible Confmentioning

confidence: 99%

Mixed control scheme for accurate control of robotic flexible endoscope

Zhang

Han

Wang

et al. 2017

International Journal of Advanced Robotic Systems

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Tendon-driven endoscopes are mainly used in the current practice. Their flexible bodies may change frequently during the processes of biopsy, endoscopic mucosal resection or endoscopic submucosal dissection. These changes lead to backlash hysteresis and nonlinear friction effects, which make it difficult to achieve accurate control. To address this problem, a mixed control scheme based on the combination of discrete and continuous models was proposed and quantitatively compared with a conventional feedback control scheme, a feedforward control scheme and an adaptive control scheme. These experiments were conducted using a robotic gastroscope. The results showed that our control scheme can achieve more accurate tracking performance when the configuration changes frequently, with mean square error of tracking performance decreased by 50-75%.

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“…Lastly, discontinuous phenomena still exist in the proposed models due to the use of Coulomb friction model. Although Do et al [15][16][17][18][19] introduced novel dynamic friction models to overcome the discontinuity for estimated force feedback, no motion control schemes were introduced to compensate Contents lists available at ScienceDirect journal homepage: www.elsevier.com/locate/rcim for the position errors.…”

Section: Introductionmentioning

confidence: 99%