发表机构
Department of Mechanical and Industrial Engineering, Louisiana State University（路易斯安那州立大学机械与工业工程系）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究缆绳驱动连续体机器人手臂点对点运动中的残余振动问题，核心方法是应用时滞滤波器作为输入整形器，主要贡献是设计非鲁棒和鲁棒时滞滤波器，实验验证可减少振荡，鲁棒整形器能进一步改善手臂响应。
AI 中文摘要
缆绳驱动的连续体机器人手臂是一种欠驱动机构，在从静止到静止的操作结束时可能会产生残余振动。在这项工作中，应用了一个时滞滤波器作为系统的输入整形器，以消除振动模式的激励。基于线性系统模型设计了一个非鲁棒和一个鲁棒时滞滤波器，与速度驱动的脉冲输入相比，其响应得到了改善。使用连续体机器人的实验结果验证了输入整形器的应用，超调量和稳定时间的减少体现了操作结束时振荡的减少。还表明，与应用非鲁棒整形器相比，使用鲁棒整形器进一步改善了手臂的响应。这些结果对于连续体机器人在涉及任意末端执行器轨迹的应用中的精确和鲁棒实现具有重要意义。
英文摘要
A cable-driven continuum robot arm is an underactuated mechanism and may suffer residual vibration at the end of a rest-to-rest maneuver. In this work, a time-delay filter is applied as an input shaper to the system to eliminate the excitation of vibratory modes. A non-robust and a robust time-delay filter are designed based on a linear system model and demonstrate improved response compared to a velocity-driven pulse input. Experimental results using the continuum robot validate the application of the input shaper, with reduced overshoot and settling time exemplifying the reduction in oscillation at the end of the maneuver. It is also shown that utilizing the robust shaper further improves the response of the arm in comparison to applying the non-robust shaper. These results are significant towards the precise and robust implementation of continuum robots in applications involving arbitrary end-effector trajectories.
