In view of unique flexibility of the cable-driven continuum robot makes its backbone deformation difficult to be measured by traditional rigid sensors,on the other hand,the kinematic model constructed based on piecewise constant curvature assumption has the problem of low position precision in open-loop control.The modular designed cable-driven continuum robot is used as research object,an elastic magnetoelectric strain sensor is used and multiple regression model is established to realize the robot shape perception.The closed-loop feedback control of robot flexible manipulator in 3D space is realized by a motion space mapping method.Finally,a robot prototype platform is built and verified by experiments.The results prove the feasibility and accuracy of the feedback control method based on flexible sensor.
关键词
绳驱动连续体机器人/柔性传感器/运动空间映射/反馈控制
Key words
cable-driven continuum robot/flexible sensor/motion space mapping/feedback control
维普
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