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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Modeling and Estimation of Friction, Extension, and Coupling Effects in Multisegment Continuum Robots
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Modeling and Estimation of Friction, Extension, and Coupling Effects in Multisegment Continuum Robots

机译：多段连续体机器人中摩擦，伸展和耦合效应的建模和估计

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摘要

The prevalence of wire-actuated mechanisms and continuum robots (CRs) for surgical applications stems from several advantages due to the remote location of actuators from the end-effectors (e.g., improved down scalability and sterilization). These advantages, however, come at the expense of inherent uncertainties due to backlash effects, compliance, and friction in the actuation lines, which in turn, limit their precision. In addition, multisegment CRs suffer from actuation coupling, diminishing the accuracy of their kinematic model. This paper aims to address these two gaps by presenting a model-based estimation and actuation compensation framework enabling the online estimation of modeling uncertainties and friction, despite possible temporal changes in these parameters and cross coupling between segments. A capstan friction model accounting for friction-induced actuation line extensions in both fixed and variable geometry conduits is presented. A modified statics model for multisegment robots is presented to account for cross-coupling effects between subsequent CR segments. A sequential estimation approach using the robot inverse kinematics, statics, and measurements of actuated joint positions and forces is then presented. These approaches are then validated experimentally on a two-segment single port access surgery CR.
机译：线操作机构和连续机器人（CR）的广泛应用源于多种优势，这归因于执行器与末端执行器的距离较远（例如，向下的可扩展性和灭菌性更高）。然而，这些优点是以背隙效应，顺应性和致动管线中的摩擦力为代价的固有不确定性为代价，这反过来又限制了它们的精度。另外，多段CR受到致动耦合的影响，从而降低了其运动学模型的准确性。本文旨在通过提出一个基于模型的估计和驱动补偿框架来解决这两个差距，尽管这些参数可能会随时间变化并且各段之间可能存在交叉耦合，但该模型可以在线估计模型不确定性和摩擦。提出了主导轮摩擦模型，该模型考虑了固定和可变几何形状的导管中摩擦引起的驱动线延伸。提出了一种用于多段机器人的改进的静态模型，以解决后续CR段之间的交叉耦合效应。然后提出了一种顺序估计方法，该方法使用了机器人逆运动学，静力学以及对关节位置和作用力的测量。这些方法随后在两段式单端口手术CR上进行了实验验证。

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