Feedback Control of Cable-Driven Continuum Robot based on flexible perception

摘要

Aiming at problems of the limited accuracy of the model and poor control precision caused by the complex deformation of Cable-Driven Continuum Robot(CDCR), a shape sensing and feedback control approach for CDCR is proposed based on the elastic magnetoelectric strain sensor. The kinematic model of CDCR was established based on the product of the exponential (POE) formula. Based on the sensor's physical characteristics, the robot's shape-sensing model was proposed and Qualisys Track System was used for calibration. A module prototype was built to verify the effect of the perceptual feedback control algorithm. The experiment proved that the flexible perception method used in this paper is universal and accurate, and provides a valuable framework for real-time sensing control.