Design and control of a tendon-driven continuum robot

作者：Li, Minhan; Kang, Rongjie^*; Geng, Shineng; Guglielmino, Emanuele

来源：TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2018, 40(11): 3263-3272.

DOI：10.1177/0142331216685607

• Continuum robots
• tendon driven system
• redundant actuation
• optimal control

Continuum robots are suitable for operating in unstructured environments owing to their intrinsic compliance. This paper presents a novel tendon-driven continuum robot equipped with two modules and a compliant backbone formed by helical springs. Each module is driven by four parallel arranged tendons to implement a redundant actuation system that guarantees dexterous motions of the robot. A position feedback controller for the continuum robot is then developed, and a quadratic programming algorithm is incorporated into the controller to achieve a smooth configuration of the robot. Experiments results show that the control method has good trajectory tracking performance against external disturbances.

• 出版日期2018-7
• 单位天津大学