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A Model-Based Method for Predicting the Shapes of Planar Single-Segment Continuum Manipulators With Consideration of Friction and External Force

机译:考虑到摩擦和外力预测平面单段连续体操纵器的形状的基于模型的方法

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摘要

The shape prediction of tendon-driven continuum manipulators is a challenging problem due to the effect of inner friction and external force. Many researchers use actuation displacement or actuation force as model input to predict the shapes of manipulators, but very few consider their relations and models able to predict the status of friction. This paper proposes a model-based method that combines the mechanics model with the kinematic model to predict the shapes of planar single-segment manipulators with consideration of external force and friction. Finally, the shape prediction of manipulators is converted to an optimization problem with actuation displacement and actuation force as the inputs of our algorithm. The distribution of tendon force and the situation of friction can be calculated by using the feedback data of the actuation unit even when actuation direction changes and hysteresis occurs. Experimental results indicate that the method has good performance in predicting the manipulator's shapes.
机译:由于内部摩擦和外力的影响,肌腱驱动的连续管道的形状预测是一个具有挑战性的问题。许多研究人员使用致动位移或致动力作为模型输入以预测操纵器的形状,但很少考虑他们的关系和模型能够预测摩擦的状态。本文提出了一种基于模型的方法,将力学模型与运动模型相结合,以考虑到外力和摩擦,预测平面单段操纵器的形状。最后,操纵器的形状预测与致动位移和致动力作为我们算法的输入转换为优化问题。即使当发生致动方向变化和滞后时,也可以通过使用致动单元的反馈数据来计算肌腱力和摩擦情况的分布。实验结果表明,该方法在预测操纵器的形状方面具有良好的性能。

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