TY - JOUR
T1 - Online optimization enhanced closed-loop control of multi-section continuum robots
AU - Yang, Laihao
AU - Zheng, Yi
AU - Sun, Yu
AU - Chen, Xuefeng
N1 - Publisher Copyright:
© 2025 Elsevier B.V.
PY - 2025/7
Y1 - 2025/7
N2 - Due to the inherent characteristics of continuum robots (high flexibility, multiple degrees of freedom), controlling the continuum robots safely and precisely in practical applications has always been a challenging task. In this paper,a real-time kinematic closed-loop controller that optimizes the step length to boost control performance is proposed. Initially, a differential-based generalized inverse kinematics solution is formulated to resolve the DOF coupling in twin-pivot continuum robots that intertwined two DOFs in one joint. Subsequently, an adaptive online optimization strategy utilizing the algorithm of Particle Swarm Optimization (PSO) is proposed to refine the controller, overcoming the limitations of traditional Jacobian-based approaches. This novel method innovatively decouples control direction and step length, optimizing safety and efficiency. Comparative simulations and tracking tests confirm the controller's superior precision and efficiency, with an average accuracy of 0.33 %, a 35 % enhancement over the Jacobian controller, thus facilitating the broader application of multi-section continuum robots.
AB - Due to the inherent characteristics of continuum robots (high flexibility, multiple degrees of freedom), controlling the continuum robots safely and precisely in practical applications has always been a challenging task. In this paper,a real-time kinematic closed-loop controller that optimizes the step length to boost control performance is proposed. Initially, a differential-based generalized inverse kinematics solution is formulated to resolve the DOF coupling in twin-pivot continuum robots that intertwined two DOFs in one joint. Subsequently, an adaptive online optimization strategy utilizing the algorithm of Particle Swarm Optimization (PSO) is proposed to refine the controller, overcoming the limitations of traditional Jacobian-based approaches. This novel method innovatively decouples control direction and step length, optimizing safety and efficiency. Comparative simulations and tracking tests confirm the controller's superior precision and efficiency, with an average accuracy of 0.33 %, a 35 % enhancement over the Jacobian controller, thus facilitating the broader application of multi-section continuum robots.
KW - Closed-loop control
KW - Continuum robot
KW - Differential kinematics
KW - Jacobian matrix
KW - PSO
UR - https://www.scopus.com/pages/publications/105000363366
U2 - 10.1016/j.robot.2025.104986
DO - 10.1016/j.robot.2025.104986
M3 - 文章
AN - SCOPUS:105000363366
SN - 0921-8890
VL - 189
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
M1 - 104986
ER -