论文信息 - Modeling and vision-based control of a micro catheter head for teleoperated in-pipe inspection

Modeling and vision-based control of a micro catheter head for teleoperated in-pipe inspection

The objective of this project, named MESIA (Multifunctional Micro-Endoscope Head System for Industrial Applications) is to develop an integrated multisensor system and to create intelligent sensor fusion for detection of micro-cracks. This paper is focused on the modeling of a 2-DOF pan-tilt platform actuated by Ni-Ti shape memory alloy (SMA) wires and antagonistic mechanical springs in order to control visually the CCD camera motion. A Preisach model is used and experimentally identified. The derived model is then exploited to design a position controller which compensates for the hysteretic nonlinearity. Finally, by controlling the catheter head orientation through a head motion tracker, in-pipe visual tracking has been experimentally verified from a remote site.

Alexandre Krupa | Antoine Ferreira | Saliha Boudjabi

[1] S. Hirose,et al. Mathematical model and experimental verification of shape memory alloy for designing micro actuator , 1991, [1991] Proceedings. IEEE Micro Electro Mechanical Systems.

[2] Antoine Ferreira,et al. GA-based control of binary-continuous joints of a multi-link micromanipulator using SMA actuators , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3] Rob Gorbet,et al. Control of hysteretic systems with Preisach representations , 1997 .

[4] Dongwoo Song,et al. Modeling of piezo actuator’s nonlinear and frequency dependent dynamics , 1999 .

[5] Vijayan K. Asari,et al. Design of a vision-guided microrobotic colonoscopy system , 2000, Adv. Robotics.

[6] A. Kurdila,et al. Hysteresis Modeling of SMA Actuators for Control Applications , 1998 .

[7] Patrick Rives,et al. A new approach to visual servoing in robotics , 1992, IEEE Trans. Robotics Autom..

[8] Hellal Benzaoui. Modélisation thermomécanique et commande d'actionneurs en alliages à mémoire de forme pour la microrobotique. , 1998 .

[9] Mayergoyz,et al. Mathematical models of hysteresis. , 1986, Physical review letters.

[10] Musa Jouaneh,et al. Generalized preisach model for hysteresis nonlinearity of piezoceramic actuators , 1997 .

[11] David W. L. Wang,et al. Preisach model identification of a two-wire SMA actuator , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).