Monitoring and Control of Position and Attitude of Flexible Manipulator with Three Degrees of Freedom

Aiming at the problem that the kinematics modeling and control of flexible manipulator are difficult and the research in the field of sensor feedback is insufficient, we design and manufacture a flexible manipulator based on three pneumatic muscles. Base on the flexible manipulator and the kinematic model of that, an experimental platform was built which can be used to monitor and control the position and attitude of flexible manipulators. The results of open-loop experiments show that the position and attitude of the flexible manipulator is consistent with the kinematics model, which verifies the validity of the kinematics model and the feasibility of the sensing system. The results of PID closed-loop control experiments show that the flexible manipulator has controllability.

[1]  Zulfatman,et al.  Two-Link Flexible Manipulator Control Using Sliding Mode Control Based Linear Matrix Inequality , 2017 .

[2]  Xiaobo Tan,et al.  Modeling of Biomimetic Robotic Fish Propelled by An Ionic Polymer–Metal Composite Caudal Fin , 2010, IEEE/ASME Transactions on Mechatronics.

[3]  Paolo Dario,et al.  Soft Robot Arm Inspired by the Octopus , 2012, Adv. Robotics.

[4]  Wenjun Xu,et al.  Automate surgical tasks for a flexible Serpentine Manipulator via learning actuation space trajectory from demonstration , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[5]  B Mazzolai,et al.  Design of a biomimetic robotic octopus arm , 2009, Bioinspiration & biomimetics.

[6]  Filip Ilievski,et al.  Multigait soft robot , 2011, Proceedings of the National Academy of Sciences.

[7]  Cecilia Laschi,et al.  Soft robotics: a bioinspired evolution in robotics. , 2013, Trends in biotechnology.

[8]  O. Sawodny,et al.  Observer design for a flexible manipulator model with a payload , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[9]  D. Rus,et al.  Design, fabrication and control of soft robots , 2015, Nature.

[10]  Taro Nakamura,et al.  Development of a soft manipulator using a smart flexible joint for safe contact with humans , 2003, Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003).

[11]  R. Pfeifer,et al.  Self-Organization, Embodiment, and Biologically Inspired Robotics , 2007, Science.

[12]  Ken Masamune,et al.  Fetus‐supporting flexible manipulator with balloon‐type stabilizer for endoscopic intrauterine surgery , 2008, The international journal of medical robotics + computer assisted surgery : MRCAS.

[13]  N. Kotov,et al.  Stretchable nanoparticle conductors with self-organized conductive pathways , 2013, Nature.

[14]  Ian D. Walker,et al.  Field trials and testing of the OctArm continuum manipulator , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[15]  Robert J. Webster,et al.  Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review , 2010, Int. J. Robotics Res..

[16]  Filip Ilievski,et al.  Soft robotics for chemists. , 2011, Angewandte Chemie.