Adaptive recursive sliding mode based trajectory tracking control for cable-driven continuum robots

Qin, Yanan; Chen, Qi; Ming, Chengjun

doi:10.1016/j.isatra.2024.02.016

Cited by 4 publications

(1 citation statement)

References 33 publications

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“…Because of these advantages, the wire-actuated robots are applied widely in many fields, such as lifting and positioning [3,4], detection and maintenance [5][6][7], wearable rehabilitation and assistance [8][9][10][11][12][13], medical surgery [14][15][16], soft robot arm and hand [17][18][19][20], bionic robot [21]. Researchers have 2 designed different wire-actuated robots and carry out a lot of research works, such as kinematics and statics analysis [22][23][24][25][26], workspace analysis [27,28], wire tension analysis [29], stiffness analysis [30], dynamics analysis [31,32], path and trajectory planning [33][34][35], motion and compliance control [36][37][38][39][40] and so on. These works are valuable for the subsequent researches and applications of the wireactuated robots.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Symmetric Joint Module for a Modular Wire-Actuated Robotic Arm with Symmetric Variable-Stiffness Units

Qian,

Yang,

Ruan

et al. 2024

Preprint

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In this paper, a modular wire-actuated robotic arm was designed to improve the safety and adaptability of service robots during human-robot interaction. To raise the stiffness adjustment range of the robotic arm, a symmetric variable-stiffness unit was designed based on flexure, which had compact and simple structure, and lowly nonlinear stiffness-force relationship. In this paper, we focused on the research of the symmetric 1-DOF joint module. Based on the kinematics and stiffness analysis, the pose of the joint module could be adjusted by controlling the length of the wires, and the stiffness of the joint module could be adjusted by controlling the tension of the wires. Because of the actuation redundancy, the pose and stiffness of the joint module could be controlled synchronously. Furthermore, a directly method was proposed for the stiffness-oriented wire tension distribution problem of the 1-DOF joint module. A simulation was carried out to verify the proposed method.

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Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Symmetric Joint Module for a Modular Wire-Actuated Robotic Arm with Symmetric Variable-Stiffness Units

Qian,

Yang,

Ruan

et al. 2024

Preprint

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A novel approach for tip tracking control of a horizontal tensegrity continuum robot with slack cables

Li,

Yang,

Yang

et al. 2024

Nonlinear Dyn

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Adaptive neural network-based sliding mode control for trajectory tracking control of cable-driven continuum robots with uncertainties

Chen,

Ming,

Qin

2024

Robotica

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In this paper, a novel fast nonsingular integral terminal sliding mode controller based on an adaptive neural network (ANN-FNITSMC) is proposed for the trajectory tracking control of cable-driven continuum robots (CDCRs) in complex underwater environments with uncertainties. First, a novel fast nonsingular integral terminal sliding mode control (FNITSMC) is designed to solve the chattering and singularity problems of the conventional terminal sliding mode control (TSMC). Second, an adaptive neural network (ANN) based on a radial basis function (RBF) is established to derive the uncertainties and compensate for the control input of CDCRs, enabling high-stable accuracy and strong robustness trajectory tracking in complex underwater environments. Simulation results are presented to demonstrate the high accuracy and strong robustness of the ANN-FNITSMC. Finally, the high accuracy, high stability, and strong robustness of the proposed trajectory tracking strategy are verified through an underwater experiment platform.

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Adaptive recursive sliding mode based trajectory tracking control for cable-driven continuum robots

Cited by 4 publications

References 33 publications

Design and Analysis of a Symmetric Joint Module for a Modular Wire-Actuated Robotic Arm with Symmetric Variable-Stiffness Units

Design and Analysis of a Symmetric Joint Module for a Modular Wire-Actuated Robotic Arm with Symmetric Variable-Stiffness Units

A novel approach for tip tracking control of a horizontal tensegrity continuum robot with slack cables

Adaptive neural network-based sliding mode control for trajectory tracking control of cable-driven continuum robots with uncertainties

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