Research On Impedance Control Of Single Segment Continuum Robot

The continuum robot has excellent characteristics that the traditional rigid link robot does not have,theoretically has unlimited degrees of freedom,and can move in any complex shape.The continuum robot's characteristics determine that it can be applied to any work scene.This paper develops a line-driven continuum robot based on the trunk-like flexible structure.Kinematic model of single-segment continuum robot.According to the prototype structure of the continuum robot,using the screw method,the kinematics model of the continuum robot is established;Then based on the principle of spiral motion and differentiation,the two speed Jacobian matrices of the continuum robot are further obtained.Dynamic model of single-segment continuum robot.Concentrate the mass on the apex of the continuum robot arc segment to obtain the robot kinetic energy;the arc segment of the continuum robot is regarded as a pseudo-rigid body model to obtain elastic potential energy and gravity potential energy.Using the Lagrange equation,the dynamic model of the continuum robot is derived.Then,the forward and reverse dynamics simulation of the continuum robot is completed.Impedance control of single-segment continuum robot.Based on the impedance control model,the design of the impedance control system of the continuum robot is completed;then use the second-order linear differential equation to solve the three bounded steady-state errors of the impedance control,and prove the stability of the impedance control system;then completed the impedance control simulation to verify the correctness of the impedance control model;the influence of impedance parameters on the control system is studied,and some suggestions for optimizing the impedance control system are put forward based on the research results.Single-step continuum robot impedance backstepping control.According to the impedance control model of the continuum robot and the design method of backstepping control,the impedance backstepping control input of the continuum robot is derived;the feedback linearization system proves that the control system is progressively stable;then the simulation of the impedance backstep control system was carried out to verify the correctness of the control system;the influence of the backstepping parameters on the impedance backstepping control system is studied,and some suggestions for optimizing the impedance backstepping control system are put forward based on the research results.Impedance sliding mode control of single-segment continuum robot.Based on the impedance control model of continuum robot and the design method of sliding mode control,the input of impedance sliding mode control is given.Then according to Lyapunov function,linear matrix inequality and differential equation inequality,the bounded steady-state error of the impedance sliding mode controller is obtained,which proves that the control system is stable;then,the impedance sliding mode control system simulation is completed to verify the correctness of the control system;the influence of robust parameters on the impedance sliding mode control system is studied,and some suggestions for optimizing the impedance sliding mode control system are put forward based on the research results.