Bio-inspired design of alternate rigid-flexible segments to improve the stiffness of a continuum manipulator

Liu, Hong; Wang, Hairong; Fan, Shaowei; Yang, Dapeng

doi:10.1007/s11431-020-1677-8

Cited by 4 publications

(2 citation statements)

References 24 publications

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“…[12,20,21], whereas they all require a prior knowledge of the dynamic model. Furthermore, currently, robotic systems adopt lightweight and flexible materials, embedded sensors and actuators, which make the nonlinear inertia and couplings among the joints become more and more dominant and influential in system performance [22]. In this case, simple PID controller is insufficient to achieve high performance and model-based controllers become fairly complicated and time-consuming.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Tracking Differentiator Based Prescribed Performance Control for Space Manipulator

Fan

Jing

Bernelli‐Zazzera

2023

Int. J. Control Autom. Syst.

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A low-complexity prescribed performance controller is proposed for motion tracking control of a space manipulator in this paper. First of all, a prescribed-time prescribed performance function is designed. Based on the function, the proposed controller is capable of guaranteeing the system transient and steady-state control performances satisfy the prescribed boundary constraints. Moreover, all tracking errors converge to stability domains before the user-defined settling time. A nonlinear tracking differentiator based on a hyperbolic sine function is adopted to estimate the derivatives of joint angles and reconstruct the angular velocity for the controller, which lowers hardware requirements for the controlled system to a certain extent. Without any time-consuming operations and model information, the proposed control scheme has a superiority in low computation complexity and robustness against model uncertainties. With the Lyapunov theory, the prescribed-time stability within prescribed performances of the closed-loop has been rigorously proven. Numerical simulation and the comparison with the traditional prescribed performance control demonstrates the effectiveness and superior performances of the proposed control scheme.

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Section: Introductionmentioning

confidence: 99%

Nonlinear Tracking Differentiator Based Prescribed Performance Control for Space Manipulator

Fan

Jing

Bernelli‐Zazzera

2023

Int. J. Control Autom. Syst.

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“…Many continuum manipulators have been proposed since then. Based on actuation strategies and backbone structure these manipulators can be classified into (Gao et al , 2019): cable driven (Li et al , 2016; Peng et al , 2021; Wang et al , 2020a; Yeshmukhametov et al , 2020), rod driven (Gao et al , 2019; Liu et al , 2020), pneumatically controlled (Mahl et al , 2014; Peng et al , 2019; Takane et al , 2016) and concentric tube manipulator. Octarm robot (Grissom et al , 2006) is one of the most successful manipulators for full body grasping and search operations.…”

Section: Introductionmentioning

confidence: 99%

Development and analysis of a bio-inspired wire-driven variable stiffness double spring based tapered multi-section flexible robot

Sahoo

Chakraborty

2021

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Purpose The purpose of this paper is to develop a tendon actuated variable stiffness double spring based continuously tapered multi-section flexible robot and study its capability to achieve the desired bending and compression for inspection in cluttered environments. Design/methodology/approach Spring-based continuum manipulators get compressed while actuated for bending. This property can be used for the advantage in cluttered environments if one is able to control both bending and compression. Here, this paper uses a mechanics based model to achieve the desired bending and compression. Moreover, this study tries to incorporate the tapered design to help in independent actuation of the distal sections with minimal effects on proximal sections. This study is also trying to incorporate the double spring based design to minimize the number of spacers in the robot body. Findings The model was able to produce desired curvature at the tip section with less than 4.62% error. The positioning error of the manipulator is nearly 3.5% which is at par with the state-of-the-art manipulators for search and rescue operations. It was also found that the use of double spring can effectively reduce the number of spacers required. It can be helpful in smooth robot to outer world interaction without any kink. From the experiments, it has been found that the error of the kinematic model decreases as one moves from high radius of curvature to low radius of curvature. Error is maximum when the radius of curvature is infinity. Practical implications The proposed manipulator can be used for search operations in cluttered environments such as collapsed buildings and maintenance of heavy machineries in industries. Originality/value The novelty of this paper lies in the design and the proposed kinematics inverse kinematics for a spring-based continuously tapered multi-section manipulator.

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A 0.5-meter-scale, high-load, soft-enclosed gripper capable of grasping the human body

Zhang

et al. 2023

Sci. China Technol. Sci.

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Bio-inspired design of alternate rigid-flexible segments to improve the stiffness of a continuum manipulator

Cited by 4 publications

References 24 publications

Nonlinear Tracking Differentiator Based Prescribed Performance Control for Space Manipulator

Nonlinear Tracking Differentiator Based Prescribed Performance Control for Space Manipulator

Development and analysis of a bio-inspired wire-driven variable stiffness double spring based tapered multi-section flexible robot

A 0.5-meter-scale, high-load, soft-enclosed gripper capable of grasping the human body

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