Continuum Robot Follow-the-Leader Control for Contact-Safe Navigation
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Solution Overview
Problem
Continuum robots may accidentally come into contact with objects during follow-the-leader control in confined spaces, potentially damaging the robot or the object, and ensuring safe operation is challenging.
Innovation Solution
A continuum robot control system that includes following calculating means to determine target bending and rotational angles for following bending sections based on the distal-most bending section and base displacement, with switching means to seamlessly integrate operator input, and computing means to drive the wires accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If follow-the-leader control is used to move the continuum robot along a narrow path, then the robot can navigate confined spaces, but the robot may accidentally come into contact with objects and cause damage
Solution Approach 1:
The control system applies preliminary anti-action by detecting the operator's intended motion direction through operating unit input and comparing it with the actual robot motion. When a discrepancy is detected (indicating potential accidental contact), the system proactively switches from follow-the-leader control to observation motion control, preventing further harmful contact before it occurs.
Solution Approach 2:
The system implements feedback by continuously monitoring the relationship between operator input (intended motion) and actual robot motion. This feedback loop enables the control system to detect when the robot is deviating from the operator's intended path, indicating potential contact with objects, and triggers appropriate control mode switching to prevent damage.
2Ease of operation
If algebraic determination of bending amounts is used for observation motion control, then simple operator operation is achieved, but significant additional bending may occur even with small operator input
Solution Approach 1:
The system applies partial action by selectively determining which bending sections receive additional bending commands based on the detected motion discrepancy. Rather than applying uniform bending to all sections, the control system calculates and applies bending only to the necessary following bending sections, achieving the desired observation motion with more precise and controlled bending amounts.
3Productivity
If follow-the-leader control continuously transmits bending attitude from distal to proximal sections, then the robot can follow the distal end motion, but safe operation cannot be ensured in confined spaces
Solution Approach 1:
The control system implements dynamics by enabling seamless switching between two control modes: follow-the-leader control for efficient motion transmission and observation motion control for safe operation. The system dynamically adapts its control strategy based on real-time detection of motion discrepancies, optimizing both productivity and reliability according to the operational context.
Data Source
AI summary
An object is to provide a mechanism that can ensure safe operation of a continuum robot. A block FTL calculates a target bending angle θfFTL and a target rotational angle ζfFTL Of a following bending section on the basis of a target bending angle θ1t and a target rotational angle ζ1t of a distal-most bending section and a displacement of a base. A switch unit 330 selects the target bending angle θfFTL and the target rotational angle ζfFTL of the following bending section obtained from the block FTL or a target bending angle θ1f and a target rotational angle ζ1f of the following bending section obtained from a block P1 corresponding to following operating means. A kinematic computing unit 340 computes, on the basis of the target bending angle and the target rotational angle, a drive displacement by which a driving unit drives a wire in the following bending section.