Autonomous Iterative Motion Learning (AI-MOLE) of a SCARA Robot for Automated Myocardial Injection

作     者：Michael Meindl Raphael Mönkemöller Thomas Seel 

出 版 物：《IFAC-PapersOnLine》 

年 卷 期：2024年第58卷第24期

页      面：380-385页

主　　题：Iterative learning control Iterative modeling and control design Autotuning Intelligent robotics Motion Control Systems 

摘      要：Stem cell therapy is a promising approach to treat heart insufficiency and benefits from automated myocardial injection which requires highly precise motion of a robotic manipulator that is equipped with a syringe. This work investigates whether sufficiently precise motion can be achieved by combining a SCARA robot and learning control methods. For this purpose, the method Autonomous Iterative Motion Learning (AI-MOLE) is extended to be applicable to multi-input/multi-output systems. The proposed learning method solves reference tracking tasks in systems with unknown, nonlinear, multi-input/multi-output dynamics by iteratively updating an input trajectory in a plug-and-play fashion and without requiring manual parameter tuning. The proposed learning method is validated in a preliminary simulation study of a simplified SCARA robot that has to perform three desired motions. The results demonstrate that the proposed learning method achieves highly precise reference tracking without requiring any a priori model information or manual parameter tuning in as little as 15 trials per motion. The results further indicate that the combination of a SCARA robot and learning method achieves sufficiently precise motion to potentially enable automatic myocardial injection if similar results can be obtained in a real-world setting.