| Tendon-sheath actuated mechanism is an important orientation in the field of robotic design. Due to its small size, simple structure and light weight, the tendon-sheath system is often adopted in many applications with spatial restrictions, such as rescue robot and surgical robot. However, the control of these systems could be challenging. On one hand, there exist a lot of nonlinear factors including the compliance and friction between the tendon and sheath; on the other hand, due to spatial restrictions and disinfection requirements, it lacks corresponding sensory feedback. These problems hinder the application of the tendon-sheath systems in situations where precise control is required. To solve the problems, this paper conducts studies on the modeling as well as compensation control method. In addition, due to the particularity of operation object, compliance control research is carried out.Through the analysis of force transmission characteristics, the static and dynamic force transmission models are established. Based on the static force model, this paper proposed a compensation control method without the sensory feedback. In addition, a semi-physical real-time control system is developed based on MATLAB/RTW. The proposed force transmission models and control method are verified via experiments.Through the analysis of displacement transmission characteristics, the static and dynamic displacement transmission models are established. Two control methods are proposed based on the displacement models respectively. Verification of the proposed displacement transmission models and control methods are realized through experiments.In order to achieve the goal of soft operation, the compliant control research is conducted. To carry out the passive compliance control, a compliant end-effector is designed. Besides, some research is developed on active compliance control. |
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