Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators
| Autor: | Robert J. Webster, Keith L. Obstein, Federico Campisano, James H. Chandler, Simone Calo, Pietro Valdastri, Andria A. Remirez |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Control and Optimization Computer science Biomedical Engineering 02 engineering and technology Workspace Kinematics Article law.invention Computer Science::Robotics 020901 industrial engineering & automation Artificial Intelligence Position (vector) law Control theory medicine Manipulator ComputingMethodologies_COMPUTERGRAPHICS Continuum (topology) Mechanical Engineering Stiffness 021001 nanoscience & nanotechnology Computer Science Applications Human-Computer Interaction Nonlinear system Control and Systems Engineering Robot Computer Vision and Pattern Recognition Wrench medicine.symptom 0210 nano-technology Reduction (mathematics) |
| Zdroj: | IEEE Robot Autom Lett IEEE Robotics and Automation Letters |
| ISSN: | 2377-3766 |
| Popis: | Continuum manipulators are flexible robots which undergo continuous deformation as they are actuated. To describe the elastic deformation of such robots, kinematic models have been developed and successfully applied to a large variety of designs and to various levels of constitutive stiffness. Independent of the design, kinematic models need to be calibrated to best describe the deformation of the manipulator. However, even after calibration, unmodeled effects such as friction, nonlinear elastic and/or spatially varying material properties as well as manufacturing imprecision reduce the accuracy of these models. In this letter, we present a method for improving the accuracy of kinematic models of continuum manipulators through the incorporation of orientation sensor feedback. We achieve this through the use of a “disturbance wrench,” which is used to compensate for these unmodeled effects, and is continuously estimated based on orientation sensor feedback as the robot moves through its workspace. The presented method is applied to the HydroJet, a waterjet-actuated soft continuum manipulator, and shows an average of 40% reduction in root mean square position and orientation error in the two most common types of kinematic models for continuum manipulators, a Cosserat rod model and a pseudo-rigid body model. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|