Controlling Tendons to Modulate Stiffness of a Planar-to-Spatial Tendon-Driven Continuum Manipulator Under External Uncertain Forces

作     者：Vipin Pachouri Pushparaj Mani Pathak Vipin Pachouri;Pushparaj Mani Pathak

作者机构：Indian Institute of Technology RoorkeeRoorkee247667India 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2024年第21卷第2期

页      面：821-841页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

主　　题：Continuum arm Hyper-redundant robots Variable stiffness manipulator Tension-based control Mechatronic systems 

摘      要：Continuum manipulators(CM)are soft and flexible manipulators with large numbers of degrees of freedom and can perform complex tasks in an unstructured ***,their deformability and compliance can deviate distal tip under uncertain external *** address this challenge,a novel tension-based control scheme has been proposed to modulate the stiffness of a tendon-driven CM,reducing the tip position errors caused by uncertain external *** minimize the tip position error,a virtual spring is positioned between the deviated and the desired tip *** proposed algorithm corrects the manipulator deviated tip position,improving tension distribution and stiffness profile,resulting in higher stiffness and better *** corresponding task space stiffness and condition numbers are also computed under different cases,indicating the effectiveness of the tension control scheme in modulating the manipulator s *** validation conducted on an in-house developed prototype confirms the practical feasibility of the proposed approach.