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Optimization and Control of Cable Tensions for Hyper-redundant Snake-arm Robots

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  • Robot and Applications
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Abstract

Based on the feedback linearization of joints motion and the tension optimization of cables, a hyper-redundant snake-arm robot control strategy is presented to solve the problems caused by the joint motion coupling and the cable drive redundancy. First, a hierarchical control system architecture of snake-arm robot is developed. Subsequently, the computed torque control method is utilized to decouple the motion in the joint space, and the tension distribution satisfying the constraint condition is obtained in the cable space by quadratic programming. Since it is hard and also expensive to feedback joint motion and cable tension by sensors, the cable tensions are obtained by the system dynamics equation and the position and speed of joints motion is calculated approximately from the driving electric motors’ position. Finally, the control performance under three typical conditions is studied by numerical simulation. The results demonstrate that the presented method can effectively limit the cable tensions within the range of the minimum preload tension and the maximum allowable tension.

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Authors and Affiliations

  1. School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai, 200240, China

    Jianfeng Tao, Chengjin Qin, Zhilin Xiong, Xiang Gao & Chengliang Liu

Authors
  1. Jianfeng Tao
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  2. Chengjin Qin
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  3. Zhilin Xiong
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  4. Xiang Gao
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  5. Chengliang Liu
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Corresponding author

Correspondence to Chengjin Qin.

Additional information

Recommended by Associate Editor Seok Chang Ryu under the direction of Editor Won-jong Kim.

This work was partially supported by the National Key Research and Development Program of China (Grant No. 2018YFB1306700), and the Special scientific research project of Shanghai Tunnel Engineering Co. Ltd. (Grant No. 2017-SK-09).

Jianfeng Tao received his Ph.D. degree from the School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics in 2003. He was promoted as an associated professor in 2012 at the Shanghai Jiao Tong University. His research interests are in intelligent sensing and control of complex mechatronics systems, with particular attention to robotics system, construction machinery, and industrial fluid power transmission and control system.

Chengjin Qin received his Ph.D. degree from Shanghai Jiao Tong University, Shanghai, China, in 2018. He is currently an assistant professor in mechanical engineering at Shanghai Jiao Tong University. His research interests include intelligent sensing and control of complex mechatronics systems, PHM and artificial intelligence.

Zhilin Xiong received his B.S. degree in mechanical design, manufacturing and automation from Wuhan University of Technology, China in 2015, and an M.S. degree in mechanical engineering from Shanghai Jiao Tong University, Shanghai, China in 2018. He is currently a research associate with the Guangzhou Shiyuan Electronic Technology Company Limited and focuses on the area of legged robots.

Xiang Gao received his B.S. degree in mechanical engineering from Shanghai Jiao Tong University, Shanghai, China, in 2018. He is currently working towards an M.S. degree in mechanical engineering at Shanghai Jiao Tong University. He mainly focuses on structural design and optimization of underground engineering equipment.

Chengling Liu received his Ph.D. degree in mechanical engineering from Southeast University, China, in 1999. He was promoted as a Full Professor at Shanghai Jiao Tong University in 2002. His research interests include intelligent robot systems, power electronics, network-based monitoring and PHM.

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Tao, J., Qin, C., Xiong, Z. et al. Optimization and Control of Cable Tensions for Hyper-redundant Snake-arm Robots. Int. J. Control Autom. Syst. 19, 3764–3775 (2021). https://doi.org/10.1007/s12555-020-0440-7

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  • DOI: https://doi.org/10.1007/s12555-020-0440-7

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