基于柔性传感器的绳驱动连续体机器人反馈控制

Feedback control of cabledriven continuum robot based on flexible sensor

鉴于绳驱动连续体机器人独特的柔顺性使得其骨架变形难以通过传统的刚性传感器测量,另一方面,基于分段常曲率假设建立的运动学模型开环控制存在位置精度低的问题。本文以模块化设计的绳驱动连续体机器人为研究对象,利用了一种弹性磁电应变传感器并建立了多元回归模型实现机器人形状感知。通过一种运动空间映射方法实现了机器人柔性臂在三维空间内的闭环反馈控制。最终搭建了机器人样机平台并进行实验验证。结果有力地证明了基于柔性传感器的反馈控制方法的可行性和准确性。

In view of unique flexibility of the cable-driven continuum robot makes its backbone deformation difficult to be measured by traditional rigid sensors,on the other hand,the kinematic model constructed based on piecewise constant curvature assumption has the problem of low position precision in open-loop control.The modular designed cable-driven continuum robot is used as research object,an elastic magnetoelectric strain sensor is used and multiple regression model is established to realize the robot shape perception.The closed-loop feedback control of robot flexible manipulator in 3D space is realized by a motion space mapping method.Finally,a robot prototype platform is built and verified by experiments.The results prove the feasibility and accuracy of the feedback control method based on flexible sensor.