Teleoperation Control of Flexible Joint Continuum Robot

摘要

With the development of soft materials and flexible machinery, continuous flexible robots are widely used in the field of robots. Compared with the traditional discrete rigid robot, the continuum robot has flexible joint and multi-section structure. In this paper, we proposed a human-robot interaction control strategy with error feedback, which is based on the teleoperation for flexible joint continuum robot. We apply master-slave operation modes on our control system, which are used to control the end effector of the continuum robot. At the same time, a novel tip-following control method based on forward kinematic model is used to control the end-effector following the desired trajectory that assigned by the input devices touch X. The control method is considering joint angle limit and navigating the end effector of continuum robot in real time. In this paper, a 24 degrees of freedom(DOF) continuum robot with compliant joint is used in the simulation, and the effectiveness of the proposed teleoperation control strategy is testified.