ADAPTIVE CONTROL DESIGN FOR A TENDON-BASED CONTINUUM ROBOT

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AHMADI HABIB; BAMDAD MAHDI; BAHRI SEYED MOHAMMAD MEHDI

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Journal: Modares Mechanical Engineering Year:2015 | Volume:15 | Issue:9 Page(s): 235-246

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Information Journal Paper

Title

ADAPTIVE CONTROL DESIGN FOR A TENDON-BASED CONTINUUM ROBOT

Author(s)

AHMADI HABIB | BAMDAD MAHDI | BAHRI SEYED MOHAMMAD MEHDI | Issue Writer Certificate

Keywords

CONTINUUM ROBOTQ2

CONSTANT CURVATUREQ2

ADAPTIVE CONTROLLERQ1

EULER-BERNOULLI BEAMQ2

FEEDBACK LINEARIZATIONQ2

Abstract

In this paper, dynamics and control of a Tendon-based CONTINUUM ROBOT is investigated. The curvature is assumed constant in each section of CONTINUUM ROBOT. Kinematic equation is established on the basis of the EULER-BERNOULLI BEAM. The dynamic model of the CONTINUUM ROBOT is derived using Lagrange method. In this paper, robot control is performed in two parts: first, Dynamic model is assumed to be known and position and velocity tracking control has been achieved using the FEEDBACK LINEARIZATION method; but uncertainties in the dynamic model are constantly challenged the control of CONTINUUM ROBOTs. For unknown parametric quantities such as mass coefficients, one way is to simply substitute a fixed estimate for the unknown parametric quantities. In this case tracking error is not equal to zero but it is bounded. For many applications, we cannot assume that tracking error vector is not equal to zero. In such cases ADAPTIVE CONTROLLER is used. In this paper the total mass of the primary backbone and secondary backbone are uncertain parameters, therefore, a new ADAPTIVE CONTROLLER is presented to estimate those uncertainties. Tracking error is asymptotically stable by using ADAPTIVE CONTROLLER. Simulation results show good performance in velocity and position tracking.

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APA: Copy

AHMADI, HABIB, BAMDAD, MAHDI, & BAHRI, SEYED MOHAMMAD MEHDI. (2015). ADAPTIVE CONTROL DESIGN FOR A TENDON-BASED CONTINUUM ROBOT. MODARES MECHANICAL ENGINEERING, 15(9), 235-246. SID. https://sid.ir/paper/179034/en

Vancouver: Copy

AHMADI HABIB, BAMDAD MAHDI, BAHRI SEYED MOHAMMAD MEHDI. ADAPTIVE CONTROL DESIGN FOR A TENDON-BASED CONTINUUM ROBOT. MODARES MECHANICAL ENGINEERING[Internet]. 2015;15(9):235-246. Available from: https://sid.ir/paper/179034/en

IEEE: Copy

HABIB AHMADI, MAHDI BAMDAD, and SEYED MOHAMMAD MEHDI BAHRI, “ADAPTIVE CONTROL DESIGN FOR A TENDON-BASED CONTINUUM ROBOT,” MODARES MECHANICAL ENGINEERING, vol. 15, no. 9, pp. 235–246, 2015, [Online]. Available: https://sid.ir/paper/179034/en

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