Finite element method-based kinematics and closed-loop control of soft, continuum manipulators
| Autor: | Christian Duriez, Zhongkai Zhang, Rochdi Merzouki, Thor Morales Bieze, Frederick Largilliere, Alexandre Kruszewski |
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| Přispěvatelé: | Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Centrale Lille, Deformable Robots Simulation Team (DEFROST ), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), This research was part of the project COMOROS supported by ANR (Tremplin-ERC) and the Conseil Régional Hauts-de-France and the European Union through the European Regional Development Fund (ERDF)., SOFA, ANR-17-ERC2-0029,COMOROS,COntrol and Modelling for sOft RObots in Surgery(2017) |
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Computer science Biophysics 02 engineering and technology Kinematics Projection (linear algebra) Computer Science::Robotics symbols.namesake 020901 industrial engineering & automation Artificial Intelligence Control theory [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] Motion planning Robotic control Continuum mechanics 021001 nanoscience & nanotechnology Soft robots [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation Finite element method Numerical integration Control and Systems Engineering Lagrange multiplier Finite Element Method symbols Continuum robots 0210 nano-technology Soft manipulators |
| Zdroj: | Soft Robotics Soft Robotics, 2018, 5 (3), pp.348-364. ⟨10.1089/soro.2017.0079⟩ Soft Robotics, Mary Ann Liebert, Inc., 2018, 5 (3), pp.348-364. ⟨10.1089/soro.2017.0079⟩ |
| ISSN: | 2169-5172 2169-5180 |
| DOI: | 10.1089/soro.2017.0079⟩ |
| Popis: | This article presents a modeling methodology and experimental validation for soft manipulators to obtain forward kinematic model (FKM) and inverse kinematic model (IKM) under quasi-static conditions (in the literature, these manipulators are usually classified as continuum robots. However, their main characteristic of interest in this article is that they create motion by deformation, as opposed to the classical use of articulations). It offers a way to obtain the kinematic characteristics of this type of soft robots that is suitable for offline path planning and position control. The modeling methodology presented relies on continuum mechanics, which does not provide analytic solutions in the general case. Our approach proposes a real-time numerical integration strategy based on finite element method with a numerical optimization based on Lagrange multipliers to obtain FKM and IKM. To reduce the dimension of the problem, at each step, a projection of the model to the constraint space (gathering actuators, sensors, and end-effector) is performed to obtain the smallest number possible of mathematical equations to be solved. This methodology is applied to obtain the kinematics of two different manipulators with complex structural geometry. An experimental comparison is also performed in one of the robots, between two other geometric approaches and the approach that is showcased in this article. A closed-loop controller based on a state estimator is proposed. The controller is experimentally validated and its robustness is evaluated using Lypunov stability method. |
| Databáze: | OpenAIRE |
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