Dynamic model and control for a cable-driven continuum manipulator used for minimally invasive surgery

摘要

Background: Due to its unique flexible and dexterity, continuum robot has been widely used in small constrained environment. However, those advantages also bring that motion modelling and accurate control for the continuum robot is more complicated and tedious. A dynamic model and control strategy is presented for improving its control performance. Methods: The kinematics and velocity model of the robot are derived. The inertial force, elastic force, gravity and actuation force applied to the continuum robot are analysed. Meanwhile, the friction in drive system is investigated, and dynamic model is established by the Kane's method. Finally, a motion control strategy is proposed based on this model to verify the dynamic model. Results: Results of the simulation and experiment of a prototype verify the proposed model and its control method. Conclusions: The proposed model and control strategy can be used to achieve the bending deformation of the robot.