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

ABSTRACT

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.

Full-text preview

Available from: clemson.edu
  • Source
    • "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]. "
    [Show abstract] [Hide abstract]
    ABSTRACT: The goal of this work is to develop a soft robotic manipulation system that is capable of autonomous, dynamic, and safe interactions with humans and its environment. First, we develop a dynamic model for a multi-body fluidic elastomer manipulator that is composed entirely from soft rubber and subject to the self-loading effects of gravity. Then, we present a strategy for independently identifying all unknown components of the system: the soft manipulator, its distributed fluidic elastomer actuators, as well as drive cylinders that supply fluid energy. Next, using this model and trajectory optimization techniques we find locally optimal open-loop policies that allow the system to perform dynamic maneuvers we call grabs. In 37 experimental trials with a physical prototype, we successfully perform a grab 92% of the time. By studying such an extreme example of a soft robot, we can begin to solve hard problems inhibiting the mainstream use of soft machines.
    Preview · Article · Jun 2015 · Proceedings - IEEE International Conference on Robotics and Automation
  • Source
    [Show abstract] [Hide abstract]
    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.
    Preview · Article · Jul 2003 · IEEE/ASME Transactions on Mechatronics
  • Source
    [Show abstract] [Hide abstract]
    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.
    Preview · Conference Paper · Nov 2003
Show more