期刊
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
卷 130, 期 -, 页码 56-73出版社
ACADEMIC PRESS LTD- ELSEVIER SCIENCE LTD
DOI: 10.1016/j.ymssp.2019.05.007
关键词
Tendon sheath system; Transmission model; Online identification; Compensation control; Time-varying configuration
资金
- National Natural Science Foundation of China [51705240]
- Natural Science Foundation of Jiangsu Province of China [BK20170783]
- State Key Laboratory of Robotics and System (HIT) [SKLRS-2018-KF-10]
- China Postdoctoral Science Foundation [2018M640480]
Tendon sheath system (TSS) has been widely used in many applications with strict spatial limitations due to its flexibility, dexterity, and remote transmission ability. However, the inherent configuration-dependent nonlinearities between tendon and sheath seriously degrade the transmission performance and result in inaccurate force and position control. In this paper, the force and position transmission models of single TSS with arbitrary route configurations and terminal loads are developed based on the analysis of system friction and deformation. A tendon-sheath-based bending sensor is proposed for the online identification of accumulated bending angle. To enhance the accuracies of force control and position control with time-varying configuration, two control strategies are developed for the friction and deformation compensation without sensory feedback from distal end. An experimental setup of tendon sheath actuation is established to gain insights into the force and position transmission processes and evaluate the effectiveness of the developed transmission models and compensation controllers. The results of model validation experiments with sinusoidal force input show that the modeling errors of force and position transmission are less than 5% and 2.5%, respectively. Moreover, the trajectory tracking experiments and frequency response experiments are carried out, and the results demonstrate the feasibility of the proposed identification strategy and compensation controllers in improving control accuracy and ensuring control bandwidth of single TSS with time-varying bending angle. (C) 2019 Elsevier Ltd. All rights reserved.
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