Feedback control of cable-driven continuum robot based on flexible perception

Shuwen Qian; Tianjiang Zheng; Wenjun Shen

doi:10.1117/12.2671597

1 June 2023 Feedback control of cable-driven continuum robot based on flexible perception

Shuwen Qian, Tianjiang Zheng, Wenjun Shen

Proceedings Volume 12625, International Conference on Mathematics, Modeling, and Computer Science (MMCS2022); 1262518 (2023) https://doi.org/10.1117/12.2671597
Event: International Conference on Mathematics, Modeling and Computer Science (MMCS2022),, 2022, Wuhan, China

Abstract

Aiming at the problems of limited accuracy of model and poor position control precision caused by complex deformation of Cable-Driven Continuum Robot(CDCR), a shape sensing and feedback control approach for CDCR is proposed based on the elastic magnetoelectric strain sensor. Kinematic model of robot was established based on the product of exponential (POE) formula. Based on physical characteristics of the sensor, the shape sensing model of the robot was proposed and Qualisys Track System was used for calibration. A module prototype was built to verify the effect of the perceptual feedback control algorithm. The experiment proves that the flexible perception method used in this paper is universal and accurate, and provides a valuable framework for real-time sensing control.

Citation Download Citation

Shuwen Qian, Tianjiang Zheng, and Wenjun Shen "Feedback control of cable-driven continuum robot based on flexible perception", Proc. SPIE 12625, International Conference on Mathematics, Modeling, and Computer Science (MMCS2022), 1262518 (1 June 2023); https://doi.org/10.1117/12.2671597

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