Mechanism and Position Tracking Control of a Robotic Manipulator Actuated by the Tendon-Sheath

Yin, Meng; Xu, Zhigang; Zhao, Zhi‐Liang; Wu, Haoting

doi:10.1007/s10846-020-01245-6

Cited by 18 publications

(2 citation statements)

References 35 publications

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“…The tendon sheath system (TSS), which has the advantages of light weight, flexibility, and convenient power transmission, can perfectly adapt to the limited human space and is the first choice for the control method of the robotic arms 4,5 . The tendon sheath system (also referred to as Bowden cable) 6 controls the movement trajectory of the robot arm by transmitting external power to the end joint of the robot arm through the inner steel wire rope along the outer catheter.…”

Section: Introductionmentioning

confidence: 99%

Research on force and position control performance of the tendon sheath system with time‐varying parameters and flexible robotic arms

Tang

Pan

Yizhong

et al. 2023

Robotics Computer Surgery

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Background The tendon‐sheath‐system (TSS) is an excellent medium for remote power transmission, which is widely used in laparoscopic surgery robots. Since the operation process requires the robot to move continuously, this time‐varying characteristic further aggravates the force and position transmission loss caused by the nonlinear friction of TSS, which affects the control accuracy of the surgical robot. Method A time‐varying tendon‐sheath transmission model (RT model) is proposed. A feedforward control system is designed to improve tendon‐sheath transmission accuracy. Furthermore, a tendon‐sheath transmission model with velocity characteristics (RV model) is established. Result Force, position, and velocity experiments were carried out on the platform of TSS with a robotic arm. The results show that the R‐square values of force and position compensation are at least 96.57% and 99.16%. Conclusion The proposed RT and RV models are effective in compensating for the TSS transmission loss during the operation of the surgical robot.

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Section: Introductionmentioning

confidence: 99%

Research on force and position control performance of the tendon sheath system with time‐varying parameters and flexible robotic arms

Tang

Pan

Yizhong

et al. 2023

Robotics Computer Surgery

View full text Add to dashboard Cite

show abstract

“…Trajectory tracking control of robot manipulators has been recognized as one of the most important control modes in the robot control field [1,2]. As a classical control method, proportional-integral-derivative (PID) control has been widely used in engineering [3][4][5][6].…”

Section: Introductionmentioning

confidence: 99%

Terminal Sliding-Mode Control of Uncertain Robotic Manipulator System with Predefined Convergence Time

2021

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This paper concentrates on the predefined-time trajectory tracking for an uncertain robotic manipulator system. First, a modified predefined-time control (PTC) algorithm is proposed. Subsequently, with the help of proposed modified PTC algorithm and the nonsingular design method of terminal sliding mode, a novel nonsingular terminal sliding-mode control (NTSMC) scheme is proposed for ensuring the predefined-time convergence of tracking errors. The advantages of the newly proposed control scheme are as follows. (i) Unlike the conventional predefined-time sliding-mode control (SMC) which only guarantees the predefined-time convergence of sliding-mode surface, the proposed scheme can guarantee the predefined-time convergence of tracking errors. (ii) Compared with the conventional PTC algorithm, the proposed modified PTC algorithm can reduce the initial control peaking and enhance the precision of convergence time. The performance and effectiveness of the proposed control scheme are illustrated by comparing with the existing methods.

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Model-based Force Control of a Tendon-Sheath Actuated Slender Gripper Without Output Feedback

Zhang

Shen²,

Tian³

et al. 2022

J Intell Robot Syst

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Mechanism and Position Tracking Control of a Robotic Manipulator Actuated by the Tendon-Sheath

Cited by 18 publications

References 35 publications

Research on force and position control performance of the tendon sheath system with time‐varying parameters and flexible robotic arms

Research on force and position control performance of the tendon sheath system with time‐varying parameters and flexible robotic arms

Terminal Sliding-Mode Control of Uncertain Robotic Manipulator System with Predefined Convergence Time

Model-based Force Control of a Tendon-Sheath Actuated Slender Gripper Without Output Feedback

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