PDE-based control synthesis for a planar cable-driven continuum arm

Han, Zhiji; Liu, Zhijie; Meurer, Thomas; He, Wei

doi:10.1016/j.automatica.2024.111600

Cited by 7 publications

(1 citation statement)

References 24 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

View full text Add to dashboard Cite

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Conductive hydrogels‐based self‐sensing soft robot state perception and trajectory tracking

Ma,

Han,

et al. 2024

Journal of Field Robotics

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Soft robots face significant challenges in proprioceptive sensing and precise control due to their highly deformable and compliant nature. This paper addresses these challenges by developing a conductive hydrogel sensor and integrating it into a soft robot for bending angle measurement and motion control. A quantitative mapping between the hydrogel resistance and the robot's bending gesture is formulated. Furthermore, a nonlinear differentiator is proposed to estimate the angular velocity for closed‐loop control, eliminating the reliance on conventional sensors. Meanwhile, a controller is designed to track both structural and nonstructural trajectories. The proposed approach integrates advanced soft sensing materials and intelligent control algorithms, significantly improving the proprioception and motion accuracy of soft robots. This work bridges the gap between novel material design and practical control applications, opening up new possibilities for soft robots to perform delicate tasks in various fields. The experimental results demonstrate the effectiveness of the proposed sensing and control approach in achieving precise and robust motion control of the soft robot.

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Multi-Sensor Fusion for State Estimation and Control of Cable-Driven Soft Robots

Ma,

Li,

Yang

et al. 2024

J Bionic Eng

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PDE-based control synthesis for a planar cable-driven continuum arm

Cited by 7 publications

References 24 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

Conductive hydrogels‐based self‐sensing soft robot state perception and trajectory tracking

Multi-Sensor Fusion for State Estimation and Control of Cable-Driven Soft Robots

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