Feedback control of cable-driven continuum robot based on flexible perception

Abstract

Aiming at the problems of limited accuracy of model and poor position control precision caused by complex deformation of Cable-Driven Continuum Robot(CDCR), a shape sensing and feedback control approach for CDCR is proposed based on the elastic magnetoelectric strain sensor. Kinematic model of robot was established based on the product of exponential (POE) formula. Based on physical characteristics of the sensor, the shape sensing model of the robot was proposed and Qualisys Track System was used for calibration. A module prototype was built to verify the effect of the perceptual feedback control algorithm. The experiment proves that the flexible perception method used in this paper is universal and accurate, and provides a valuable framework for real-time sensing control.