Double Closed-Loop Adaptive Position Control Method for Continuum Robot With Soft Drives
针对带有气动软驱动器的连续体机器人，提出双闭环自适应位置控制方法，内环控制软驱动器位移，外环结合非奇异快速终端滑模函数实现末端位置控制，并通过实验验证有效性。
Continuum robots (CRs) show great potential in complex environments due to their excellent deformability. For practical applications, the position control of the CRs is an important research field. The common drives of the CRs are rigid motors with mature control schemes. However, the driving force of the rigid motors is often impactive, which may cause safety concerns during interaction. Soft drives based on pneumatic soft actuators (PSAs) can provide compliant driving force for the CRs robot bodies to solve this problem, but it is necessary to comprehensively consider the control of the soft drives and the robot bodies. This article takes a CR with soft drives as the research objective, and proposes a double closed-loop adaptive position control method to achieve the endpoint position control of the CR. This CR includes a length-variable robot body with millimeter-scale diameter and pneumatic soft drives. The kinematic model of the robot body is built based on the piecewise constant curvature (PCC) method, and the static models of the soft drives are derived from the three-element model. Based on these models, we propose a double closed-loop adaptive position control method. The inner loop is used to control the displacements of the soft drives, and the outer loop combines the endpoint position control with the nonsingular fast terminal sliding mode function to adaptively control the endpoint position based on the inner loop. By Lyapunov method, we prove the convergence of the endpoint position error. The effectiveness of the proposed control method is verified through experiments.