基于支柱倾角的张拉整体机械臂运动学估计与控制

中文摘要 AI 辅助

与由离散关节定义的常规刚性连杆机器人不同，连续体机器人在闭环控制中表达其复杂连续弯曲构型时面临根本性挑战。针对常规连续体机器人已提出多种建模方法，但基于张拉整体的连续体机器人仍 largely 开放。此外，许多方法假设连续弹性 backbone，因此不直接适用于张拉整体机械臂，其主体为刚性支柱与张拉缆索构成的网络。本工作提出一种用于张拉整体连续体机械臂形状与姿态控制的降阶模型。该机械臂被建模为串行连接的并联连杆机构。所提方法被表述为一个优化问题，利用张拉整体结构的几何约束以及嵌入支柱元件中的惯性测量单元（IMU）传感器信息。据我们所知，本工作首次在足尺张拉整体机械臂上实验演示了基于IMU的实时形状估计方法，并展示了使用简单比例-积分（PI）控制器的姿态控制。结果表明，所提方法能够从任意静态构型估计单模块张拉整体结构和多模块张拉整体机械臂的形状，并实现期望姿态。

英文摘要

Unlike conventional rigid-link robots defined by discrete joints, continuum robots pose a fundamental challenge for expressing their complex continuous bending configurations for closed-loop control. Several modelling approaches have been proposed for conventional continuum robots, but tensegrity-based continuum robots remain largely open. Moreover, many of these approaches assume a continuous elastic backbone and are therefore not directly applicable to tensegrity manipulators, whose bodies are networks of rigid struts and tensioned cables. This work presents a reduced-order model for shape and posture control of a tensegrity-based continuum manipulator. The manipulator is modelled as a serially connected parallel-link mechanism. The proposed method is formulated as an optimization problem that uses geometric constraints of the tensegrity structure together with information from the Inertial Measurement Unit (IMU) sensors embedded in the strut elements. To the best of our knowledge, this work presents the first experimental demonstration of a real-time IMU-based shape estimation method on a full-scale tensegrity manipulator and demonstrates posture control using a simple Proportional-Integral (PI) controller. The results show that the proposed method can estimate the shape of both single-module tensegrity structures and multi-module tensegrity manipulators from arbitrary static configurations and achieve desired postures.

发表机构

• Kyushu Institute of Technology（九州工业大学）

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