As a result of inherent flexibility and structural compliance, continuum robots have great potential in practical applications and are attracting more and more attentions. However, these characteristics make it difficult to acquire the accurate kinematics of continuum robots due to uncertainties, deformation and external loads. This paper introduces a method based on a zeroing neurodynamic approach to solve the trajectory tracking problem of continuum robots. The proposed method can achieve the control of a bellows-driven continuum robot just relying on the actuator input and sensory output information, without knowing any information of the kinematic model. This approach reduces the computational load and can guarantee the real time control. The convergence, stability, and robustness of the proposed approach are proved by theoretical analyses. The effectiveness of the proposed method is verified by simulation studies including tracking performance, comparisons with other three methods, and robustness tests.

由于固有的灵活性和结构顺应性，连续体机器人在实际应用中具有巨大潜力，并且正受到越来越多的关注。然而，由于不确定性，变形和外部载荷，这些特性使得难以获得连续机器人的精确运动学。本文介绍了一种基于调零神经动力学的方法来解决连续机器人的轨迹跟踪问题。所提出的方法仅依靠致动器的输入和感觉输出信息就可以实现波纹管驱动的连续机器人的控制，而无需知道运动模型的任何信息。这种方法减轻了计算量，可以保证实时控制。理论分析证明了该方法的收敛性，稳定性和鲁棒性。