Continuum robots and control thereof

摘要

Method for controlling continuum robots and systems therefrom are provided. In the system and method, a new system of equations is provided for controlling a shape of the elastic member and a tension on a tendon applying a force to an elastic member of the robot. The system of equations can be used to estimate a resulting shape of the elastic member from the tension applied to the tendon. The system of equations can also be used to estimate a necessary tension for the tendon to achieve a target shape.

主权项

1. A continuum robot, comprising:
an elastic member; a plurality of guide portions disposed along the length of the elastic member; at least one tendon extending through the plurality of guide portions; and a tendon actuator system including an actuator for applying a tension to the at least one tendon and a processing element for computing a resulting shape of the elastic member based at least on the applied tension, wherein said at least one tendon is arranged to extend through the plurality of guide portions to define a tendon path, wherein the at least one tendon is configured to apply a deformation force to the elastic member via the plurality of guide portions, and wherein the tendon path and a longitudinal axis of the elastic member are not parallel, and wherein the processing element is configured for computing the resulting shape by applying a coupled model that incorporates forces and torques applied by the tendons to a rod model for the elastic member.