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Closed-loop control of soft continuum manipulators under tip follower actuation.

Federico Campisano1, Simone Caló2, Andria A Remirez3

  • 1Science and Technology of Robotics in Medicine (STORM) Laboratory, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA.

The International Journal of Robotics Research
|August 2, 2021
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Summary

This study introduces a new control method for soft continuum manipulators, using Cosserat rod theory and sensor feedback for precise movement. The closed-loop system significantly improves path following accuracy compared to open-loop control.

Keywords:
Mechanicscontrol architectures and programmingdesign and controlmedical robots and systems

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Biomimetics

Background:

  • Continuum manipulators, inspired by nature, offer advantages over rigid robots in complex environments.
  • Soft continuum manipulators are increasingly used in applications requiring high compliance, such as medical procedures.
  • Controlling these flexible robots is challenging due to sensitivity to external loads like gravity.

Purpose of the Study:

  • To develop and validate a precise closed-loop control scheme for soft continuum manipulators.
  • To address challenges in controlling highly flexible manipulators sensitive to external forces.
  • To enable accurate path following for tip-actuated soft continuum manipulators under external loading.

Main Methods:

  • Utilized a rapidly computed kinematic model based on Cosserat rod theory.
  • Implemented a closed-loop control system incorporating actuator and pose feedback.
  • Applied the framework to a tip-actuated soft continuum manipulator under quasi-static deployment.

Main Results:

  • Demonstrated successful path following using the proposed closed-loop control scheme.
  • Showcased significant performance improvements with sensor feedback compared to open-loop control.
  • Validated the effectiveness of actuator feedback in regulating follower load and compensating for non-linearities.

Conclusions:

  • The developed control approach enables precise path following for soft continuum manipulators.
  • Sensor feedback is crucial for enhancing the accuracy and performance of these robotic systems.
  • This method is suitable for soft manipulators employing follower actuation in various environments.