Robust Control of Tendon Driven Continuum Robots

Mousa, Ahmad A.; Khoo, Suiyang; Norton, Michael

doi:10.1109/vss.2018.8460324

Cited by 12 publications

(17 citation statements)

References 29 publications

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“…Specifications of quadrotor [36] and CR [37][38][39] for simulation case studies are provided in Table II and Fig. 3.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…3. Similar to the controlled continuum robot in [37][38][39], the lightweight CR with small cross-section is considered for simulation studies. The backbone is spring steel with acrylic disks and Kevlar tendons.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…For simplicity, only planar motion of the arm is controlled. In other words, similar to [37][38][39], only two tendons and one directional position control problem were adopted to validate the proposed controller for a continuum arm. Fig.…”

Section: ) Arm Control Scenariomentioning

confidence: 99%

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Modeling and Control of Aerial Continuum Manipulation Systems: A Flying Continuum Robot Paradigm

2020

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In this paper, a novel aerial manipulation paradigm, namely an aerial continuum manipulation system (ACMS) is introduced. The proposed system is distinct from the conventional aerial manipulation systems (AMSs) in the sense that instead of conventional rigid-link arms a continuum robotic arm is used. Such an integration will enable the benefits of continuum arms especially in cluttered and less structured environments. Despite promising advantages, modeling and control of ACMS involve several challenges. The paper presents decoupled dynamic modeling of ACMS arm using the modified Cosserat rod theory. To deal with the problem of complexity and high level of modeling uncertainties, a robust adaptive control approach is proposed for the position control of ACMS and its stability is proven using Lyapunov stability theorem. Finally, the effectiveness of the proposed scheme is validated in a simulated environment.

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“…Specifications of quadrotor [36] and CR [37][38][39] for simulation case studies are provided in Table II and Fig. 3.…”

Section: Simulation Resultsmentioning

confidence: 99%

Section: Simulation Resultsmentioning

confidence: 99%

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Modeling and Control of Aerial Continuum Manipulation Systems: A Flying Continuum Robot Paradigm

2020

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“…Therefore, its hardware and software implementation for real time purposes is really problematic. Furthermore, previously proposed Cosserat rod-based controllers in the literature [33][34][35] can only control the robot in x and/or y directions using two tendons per each direction. Thus, the previous method could not handle 3D motion control of the arm.…”

Section: Introductionmentioning

confidence: 99%

“…As highlighted in [29], control design for Cosserat rod theory is really challenging and only a few papers [33][34][35] have been published to address the control design of the continuum arm using this method. Writing continuum robots formulations to facilitate the control design process is one of the main motivations of introducing a constant deformation method [29].…”

Section: Introductionmentioning

confidence: 99%

Coupled Dynamic Modeling and Control of Aerial Continuum Manipulation Systems

2021

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Aerial continuum manipulation systems (ACMSs) were newly introduced by integrating a continuum robot (CR) into an aerial vehicle to address a few issues of conventional aerial manipulation systems such as safety, dexterity, flexibility and compatibility with objects. Despite the earlier work on decoupled dynamic modeling of ACMSs, their coupled dynamic modeling still remains intact. Nonlinearity and complexity of CR modeling make it difficult to design a coupled ACMS model suitable for practical applications. This paper presents a coupled dynamic modeling for ACMSs based on the Euler–Lagrange formulation to deal with CR and the aerial vehicle as a unified system. For this purpose, a general vertical take-off and landing vehicle equipped with a tendon-driven continuum arm is considered to increase the dexterity and compliance of interactions with the environment. The presented model is independent of the motor’s configuration and tilt angles and can be applied to model any under/fully actuated ACMS. The modeling approach is complemented with a Lyapunov-wise stable adaptive sliding mode control technique to demonstrate the validity of the proposed method for such a complex system. Simulation results in free flight motion scenarios are reported to verify the effectiveness of the proposed modeling and control techniques.

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