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Trajectory tracking of multi-section tendon-driven continuum robots using virtual actuation space control
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AI
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J
V
DOI：10.1017/S026357472610318X.png)
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Abstract
En 中文
Tendon-driven Continuum Robots (TDCRs) excel at operating in confined and complex environments due to their inherent flexibility and high degrees of freedom. Despite these advantages, achieving precise control in multi-section TDCRs remains challenging because of their infinite degrees of freedom, nonlinear behaviour, and coupled tendon actuation. This paper introduces a generalised virtual actuation space framework that significantly simplifies kinematic modelling and control of multi-section TDCRs. By formulating a novel concept of virtual actuation space that converts each bending section of the TDCR two-input actuation system, the proposed method reduces the complexity of TDCR modelling and control, enabling unique and simplified representations of each section. Furthermore, the formulation decouples each section via a generalised tendon mapping matrix that handles coupling effects. Experimental validation on a two-section TDCR demonstrates tracking performance with a root mean square error below 3 mm, corresponding to approximately 1% of the robot's length. These results confirm the method's efficacy in improving TDCR precision for minimally invasive surgery, industrial applications, and other constrained environments.
Keywords:
tendon-driven continuum robots
trajectory tracking
compliant robot
tendon mapping
Journal
R
IF:
2.7
Papers:
100
Citations:
4.1K
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Cited Papers