Model-free motion control of continuum robots based on a zeroing neurodynamic approach

Area of Science:

• Robotics
• Control Systems
• Neurodynamics

Background:

• Continuum robots offer high potential due to their flexibility but face challenges in accurate kinematic modeling.
• Uncertainties, deformation, and external loads complicate precise control of these robots.

Purpose of the Study:

• To introduce a model-free control method for continuum robots.
• To address the trajectory tracking problem for bellows-driven continuum robots.

Main Methods:

• A zeroing neurodynamic approach is employed for robot control.
• The method relies solely on actuator input and sensory feedback, eliminating the need for kinematic model information.

Main Results:

• The proposed method achieves real-time control with reduced computational load.
• Theoretical analyses confirm the convergence, stability, and robustness of the approach.
• Simulation studies validate effective trajectory tracking and robustness.

Conclusions:

• The zeroing neurodynamic method offers an effective model-free solution for continuum robot trajectory tracking.
• This approach enables real-time, robust control essential for practical applications.