Conference Paper

Uniform regulation of a multi-section continuum manipulator

Clemson Univ., SC
DOI: 10.1109/ROBOT.2002.1014759 Conference: Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on, Volume: 2
Source: IEEE Xplore


Continuum manipulators are robotic manipulators built using one continuous, elastic and highly deformable "backbone", instead of multiple rigid links and joints. In previous work (2000), we illuminated various kinematic and dynamic properties of continuum robots, but the question of controller design remained open. This paper presents a basic result for continuum robots that has long been known for rigid-link robots: a simple PD-plus-feedforward controller can exponentially regulate the position of a manipulator.

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    • "Chirikjian[7]uses a continuum approach to model the dynamics of a hard hyper-redundant manipulator and uses this for computed torque control. Gravagne and Walker[8]dynamically model the Clemson Tentacle Manipulator, a hard continuum robot, and show a PD plus feed-forward regulator is sufficient for stabilizing the system. They further develop a large deflection model and controller in[9]. "
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    ABSTRACT: This paper focuses on a class of robot manipulators termed "continuum" robots - robots that exhibit behavior similar to tentacles, trunks, and snakes. In previous work, we studied details of the mechanical design, kinematics, path-planning and small-deflection dynamics for continuum robots such as the Clemson "tentacle manipulator". In this paper, we discuss the dynamics of a planar continuum backbone section, incorporating a large-deflection dynamic model. Based on these dynamics, we formulate a vibration-damping setpoint controller, and include experimental results to illustrate the efficacy of the proposed controller.
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    ABSTRACT: Continuum manipulators are robotic manipulators built using one continuous, elastic, and highly deformable "backbone" instead of multiple rigid links connected by joints. This paper extends a previous control result for planar continuum robots by proposing a new asymptotic convergence argument for a PD-plus-feedforward controller. The benefit of the asymptotic arguments is that the backbone bending stiffness can be adaptively updated by the controller if it is not known a priori.
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