Variable Impedance Control of Cable Actuated Continuum Manipulators

作     者：He, Guangping Fan, Yanan Su, Tingting Zhao, Lei Zhao, Quanliang 

作者机构：North China Univ Technol Dept Mech & Elect Engn Beijing 100144 Peoples R China Chinese Acad Sci State Key Lab Management & Control Complex Syst Inst Automat Beijing 100190 Peoples R China 

出 版 物：《INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS》 (国际控制与自动化系统杂志)

年 卷 期：2020年第18卷第7期

页      面：1839-1852页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 0811[工学-控制科学与工程] 

基　　金：National Key R&D Program of China [2019YFB1309603] Beijing Natural Science Foundation [L172001, 4204097, 3172009, 3194047] Natural Science Foundation of China 

主　　题：Continuum manipulators control robots stability variable impedance 

摘      要：Continuum manipulators are a class of special compliant robots that have important potential applications in the field of human-machine interactive operations, or work in cluttered and constrained environments. In these application scenarios, the most popular operation tasks are those with coupling force-position constraints. To simultaneously stabilize the desired operation force and the position of the manipulator, variable impedance control issues of the cable driven continuum manipulators are investigated in this paper. On the basis of constructing a novel Lyapunov function, a variable impedance control law is presented and the stability of the closed-loop system has also been analyzed. Then the operation space variable impedance control for a single segment cable driven continuum manipulator is realized by the aid of a pseudo-rigid-body model. Some numerical simulations also demonstrate the stability of the variable impedance control system.