基于可伸缩电容传感器的电缆驱动连续机器人的形状传感和运动控制
Wenjun Shen1,2, Jianhui He1,2, Guilin Yang1,2
1Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China.
Sensors (Basel, Switzerland)
|June 19, 2024
概括
本研究介绍了一种使用可伸缩电容传感器的电缆驱动连续机器人 (CDCR),用于准确的形状传感. 与开环控制相比,这种方法显著提高了轨迹跟踪的准确性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
- 传感器技术 传感器技术
背景情况:
- 连续机器人提供了合规的运动,但由于外界因素,如重力,在准确的关节变量估计方面面临挑战.
- 现有的形状感应方法 (FBG,基于视觉) 在灵敏度,实施容易度或成本效益方面存在局限性.
- 电缆驱动连续联接模块 (CDCJMs) 提供2-DOF曲,但需要精确的形状反来实现可靠的控制.
研究的目的:
- 开发用于使用可伸缩电容传感器的电缆驱动连续机器人 (CDCR) 的精确形状感应方法.
- 制定和校准一个形状感应模型,将传感器读数与机器人的曲变量联系起来.
- 实施和验证基于增强轨迹跟踪的校准模型的闭环控制策略.
主要方法:
- 整合两个可伸缩电容传感器到每个CDCJM的柔性骨干,以测量曲形状.
- 制定一个通用的形状感应模型和随后的校准,以弥补传感器放置错误.
- 实现基于滑动模式的闭环控制系统,使用校准形状感应模型.
主要成果:
- 可伸缩电容传感器为形状传感提供了高灵敏度,易于实施和成本效益.
- 校准的形状感应模型准确地确定了2-DOF曲变量 (方向和角度).
- 闭环控制减少了55mm半径圆的平均轨迹跟踪误差82.94% (从49.23mm到8.40mm).
结论:
- 可伸缩电容传感器为CDCR中的形状传感提供了优质的替代方案.
- 拟议的校准方法提高了形状感应模型的准确性.
- 闭环控制策略显著提高了CDCR的轨迹跟踪性能.
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