王红红, 杜敬利, 保宏. 肌腱驱动连续体/软体机器人控制策略[J]. 机器人, 2020, 42(5): 626-640. DOI: 10.13973/j.cnki.robot.190535
引用本文: 王红红, 杜敬利, 保宏. 肌腱驱动连续体/软体机器人控制策略[J]. 机器人, 2020, 42(5): 626-640. DOI: 10.13973/j.cnki.robot.190535
WANG Honghong, DU Jingli, BAO Hong. The Control Strategy of Tendon-Driven Continuum/Soft Robot[J]. ROBOT, 2020, 42(5): 626-640. DOI: 10.13973/j.cnki.robot.190535
Citation: WANG Honghong, DU Jingli, BAO Hong. The Control Strategy of Tendon-Driven Continuum/Soft Robot[J]. ROBOT, 2020, 42(5): 626-640. DOI: 10.13973/j.cnki.robot.190535

肌腱驱动连续体/软体机器人控制策略

The Control Strategy of Tendon-Driven Continuum/Soft Robot

  • 摘要: 深入分析了为肌腱驱动连续体机器人开发的各种控制器,以作为肌腱驱动连续体机器人领域未来应用的参照.控制策略分为基于模型的控制和无模型控制,其中,基于模型的控制可分为静态控制、动态控制及几何运动学模型控制;而无模型控制是一个相对未知的领域,本文主要从无模型静态控制、无模型动态控制及无模型形状感知控制3个方面进行全面分析.最后,对基于模型和无模型的各种控制策略进行了综合评价,并对该领域未来的研究方向进行了展望.

     

    Abstract: Various controllers developed for tendon-driven continuum robot are analyzed in-depth, which can be used as a reference for future applications in the field of tendon-driven continuum robot. The control strategy is divided into model-based control and model-free control. Among them, model-based control can be divided into static control, dynamic control and geometric kinematics model control. Model-free control is a relatively unknown field. Comprehensive analysis is carried out from model-free static control, model-free dynamic control and model-free shape perception control. Finally, the various model-based and mode-free control strategies are evaluated, and the future research direction in this field is prospected.

     

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