Design and preliminary experiments of a robot for searching interior of rubble

Chen, Lin; Wang, Xingsong; Lü, Jing; Wang, Xu

doi:10.1109/icsmc.2011.6083958

Cited by 7 publications

(4 citation statements)

References 17 publications

(16 reference statements)

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“…It can be observed that the control input can be easily obtained using and can be rewritten by (11) From (11), it can be concluded that the term can be rewritten with a new form represented by (7)- (9). The proof is completed here.…”

Section: Controller Designmentioning

confidence: 92%

“…In addition, it is able to work in complex environments and narrow paths [1], [5]. Hence, many applications have used CCM as the main mode of transmission such as wearable robot [6], robotic hands [7], surgical robot [8], rescue robots [9], and exoskeleton robots [2]. Although the CCM offers many advantages, the interactions between the cable and the conduit generally introduce large friction, deadzone, hysteresis, and backlash nonlinearities that degrade the accurate control of position and system performances [10]- [12].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

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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Section: Controller Designmentioning

confidence: 92%

Section: Introductionmentioning

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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“…Moreover, an active microphone array is integrated into this rescue robot to improve the accuracy of posture estimation by utilizing time difference of arrival (TDOA) method. Similarly, Chen and Wang 7 in Southeast University developed a rescue robot with a modular steering head, a charge-coupled device (CCD) camera and a slender body for searching in narrow voids. The operator pushes the rescue robot to move forward in the direction adjusted by the steering head.…”

Section: Introductionmentioning

confidence: 99%

Neural network–based sliding-mode control of a tendon sheath–actuated compliant rescue manipulator

Wang

Chen

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part I:

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The novel contribution of this article is to propose a neural network–based sliding-mode control strategy for improving the position-control performance of a tendon sheath–actuated compliant rescue manipulator. Structural design of a rescue robot with slender and compliant mechanical structure is introduced. The developed robot is capable of drilling into the narrow space under debris and accommodating complicated configuration in ruins. Dynamics modeling and parameters identification of a compliant gripper with flexible tendon sheath transmission are researched and discussed. Moreover, the neural network–based sliding-mode control scheme developed based on radial basis function network is proposed to improve the position-control accuracy of the gripper with modeling uncertainties and external disturbances. The stability of the proposed control system is demonstrated using Lyapunov stability theory. Further experimental investigation including trajectory-tracking experiments and step-response experiments are conducted to confirm the effectiveness of the proposed neural network–based sliding-mode control scheme. Experimental results show that the proposed neural network–based sliding-mode control scheme is superior to cascaded proportional–integral–derivative controller and conventional sliding-mode controller in position-control application.

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“…applied in applications like rescue robot [8] and even surgical robot for minimally invasive surgery (MIS) [9], [10] and no-scar surgery [11], [12]. The tendon-sheath system (TSS), also known as the cable-conduit system or Bowden cable system, is used to provide the necessary directional guidance in tendon transmission.…”

mentioning

confidence: 99%

Elongation Modeling and Compensation for the Flexible Tendon--Sheath System

Sun

Wang

Phee

2014

IEEE/ASME Trans. Mechatron.

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In tendon-driven systems, the elongation of the tendon would result in inaccuracy in the position control of the system. This becomes a critical challenge for those applications, such as surgical robots, which require the tendon-sheath system with flexible and even time-varying configurations but lack of corresponding sensory feedback at the distal end due to spatial restrictions. In this paper, we endeavor to address this problem by modeling the tendon elongation in a flexible tendon-sheath system. Targeting at flexibility in practical scenarios, we first derived a model describing the relationship between the overall tendon elongation and the input tension with arbitrary route configurations. It is shown that changes in the route configuration would significantly affect the tendon elongation. We also proposed a remedy to enhance the system tolerance against potential unmodeled perturbations along the transmission route during operation. A scaling factor S was introduced as a design guideline to determine the scaling effect. A dedicated platform that was able to measure the tensions at both ends and the overall tendon elongation was designed and set up to validate the new findings. Discussions were made on the performance and the future implementation of the proposed models and remedy.

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Design and preliminary experiments of a robot for searching interior of rubble

Cited by 7 publications

References 17 publications

Position Control of Asymmetric Nonlinearities for a Cable-Conduit Mechanism

Position Control of Asymmetric Nonlinearities for a Cable-Conduit Mechanism

Neural network–based sliding-mode control of a tendon sheath–actuated compliant rescue manipulator

Elongation Modeling and Compensation for the Flexible Tendon--Sheath System

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