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Summary

This study presents the first stiffness controller for continuum robots, enabling precise control of tip stiffness by adjusting robot configuration. This innovation allows for simultaneous sensing and control of forces using deflection sensing.

Keywords:
Concentric tube robotCosserat rodcontinuum robotkinematicsstiffness control

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Mechanical Engineering

Background:

  • Continuum robots require advanced control strategies for precise interaction with environments.
  • Existing controllers often lack the ability to directly manage robot stiffness, limiting their application in delicate tasks.

Purpose of the Study:

  • To introduce the first stiffness controller specifically designed for continuum robots.
  • To enable precise control over the tip stiffness of continuum robots.
  • To leverage robot deflection sensing for both force sensing and stiffness control.

Main Methods:

  • Developed a control law based on an accurate approximation of the continuum robot's coupled kinematic and static force model.
  • Implemented the controller by driving actuators to specific positions that achieve a desired tip stiffness.
  • Utilized robot deflection sensing to measure tip position and infer tip forces.

Main Results:

  • The stiffness controller successfully achieved desired stiffness in steady-state conditions.
  • Demonstrated good dynamic performance and stability during contact transitions.
  • Validated the controller's effectiveness on a concentric tube robot experimental setup.

Conclusions:

  • The proposed stiffness controller is the first of its kind for continuum robots.
  • The approach allows for effective stiffness control through modification of existing position controllers.
  • Robot deflection sensing serves a dual role in sensing and controlling tip forces, enhancing robot functionality.