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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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Double Closed-Loop Adaptive Position Control Method for Continuum Robot With Soft Drives.

Shiying Zhao, Qingxin Meng, Xuzhi Lai

    IEEE Transactions on Cybernetics
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    Summary
    This summary is machine-generated.

    Continuum robots (CRs) with soft drives can now achieve precise endpoint position control. A novel double closed-loop adaptive method enhances safety and adaptability in complex environments.

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    Area of Science:

    • Robotics
    • Control Systems Engineering
    • Soft Robotics

    Background:

    • Continuum robots (CRs) offer excellent deformability for complex environments.
    • Traditional rigid motor drives pose safety concerns due to impactive forces during interaction.
    • Soft drives, like pneumatic soft actuators (PSAs), provide compliant forces but require integrated control.

    Purpose of the Study:

    • To develop a robust position control method for continuum robots utilizing soft drives.
    • To address the challenge of controlling both soft drives and the robot body simultaneously.
    • To enhance safety and adaptability of CRs in interactive applications.

    Main Methods:

    • Developed a CR model with a millimeter-scale, length-variable body and pneumatic soft drives.
    • Constructed kinematic models using the piecewise constant curvature (PCC) method.
    • Derived static models for soft drives based on the three-element model.
    • Proposed a double closed-loop adaptive position control strategy with an inner loop for soft drive displacement and an outer loop for endpoint control using nonsingular fast terminal sliding mode.

    Main Results:

    • The proposed double closed-loop adaptive control method effectively achieves endpoint position control for the CR.
    • Lyapunov stability analysis confirmed the convergence of the endpoint position error.
    • Experimental validation demonstrated the practical effectiveness of the control strategy.

    Conclusions:

    • The double closed-loop adaptive position control method offers a safe and effective solution for CRs with soft drives.
    • This approach enhances the precision and adaptability of CRs, paving the way for safer human-robot interactions.
    • The study provides a foundational control framework for soft-driven continuum robots.