The tendon-sheath actuated system is applicable to the mechanism where flexibility and long-distance transmission are required, such as surgical hand and rescue robot. Nevertheless, the severe nonlinearity and flexible structure make it hard to control precisely. Moreover, in some applications, where sensors are difficult to install, precise control is even more arduous. In this brief, a noncollocated position control of a tendon-sheath actuated manipulator is studied. First, the tendon-sheath actuated elastic manipulator of a slender rescue robot is introduced. A linear relationship was measured between the driven displacement and desired displacement of the elastic manipulator. Then, the drive system of the manipulator is modeled as a single-tendon-sheath system, and the transmission model is presented. The sheath configuration of the manipulator actuation system can be identified online, using the method called 3-D reconstruction. To control the tip position of the system without collocated feedback, a combined control method which is based on the transmission model and adaptive sliding mode control is put forward. Finally, the improved accuracy in position control is demonstrated by a series of experiments.

中文翻译：

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腱鞘驱动细长机械臂的非并置位置控制

腱鞘驱动系统适用于需要灵活性和长距离传输的机构，例如手术手和救援机器人。然而，严重的非线性和灵活的结构使其难以精确控制。此外，在一些传感器难以安装的应用中，精确控制甚至更加艰巨。在本文中，研究了腱鞘驱动机械手的非并置位置控制。首先，介绍了细长的救援机器人的腱鞘驱动弹性操纵器。测量了弹性操纵器的驱动位移与期望位移之间的线性关系。然后，将机械手的驱动系统建模为单腱鞘系统，并提出了传动模型。可以使用称为3-D重建的方法在线识别机械手致动系统的护套配置。为了在没有并置反馈的情况下控制系统的尖端位置，提出了一种基于传动模型和自适应滑模控制的组合控制方法。最后，一系列实验证明了位置控制精度的提高。