113 / 2023-09-19 22:27:01

PID-Based Remote Operated Control System for Continuum Robots

continuum robot,kinematics,screw theory,PID control

Special Sessions > SS15 - In-situ Inspection and Maintenance Robotics: Intelligent Sensing,Control, Locomotion, and Detection

Twin-pivot cable-driven continuum robots are widely used in various fields due to their excellent torsion resistance. However, the traditional modeling and control methods have complicated mathematical formulas, which leads to a non-negligible error in the control accuracy of continuum robot. The exponential product formulation based on screw theory is introduced in this study to construct the kinematic model. First and foremost, the prototype of a cable-driven continuum robot with the twin-pivot backbone is presented.  Second, the kinematic model of the twin-pivot continuum robot is formulated based on screw theory, which offers the bases for the control of this robot. Further, the mapping relationship between the PS2 joystick and the end of the continuum robot, actually a kind of inverse kinematic model, is derived, based on which a double closed-loop PID control strategy is developed.  The experimental results demonstrate that the continuum robot end moves accurately along with the planning path and the control method of the PS2 joystick is very effective.