[1]刘艳红,张 宽,霍本岩,等.肌腱/绳驱动连续体机器人研究现状与展望[J].郑州大学学报(工学版),2023,44(03):3-13.[doi:10.13705/j.issn.1671-6833.2023.03.024]
　LIU Yanhong,ZHANG Kuan,HUO Benyan,et al.A Ｒeview on Status and Prospects of Tendon /Cable Driven Continuum Ｒobot[J].Journal of Zhengzhou University (Engineering Science),2023,44(03):3-13.[doi:10.13705/j.issn.1671-6833.2023.03.024]
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肌腱/绳驱动连续体机器人研究现状与展望()
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《郑州大学学报(工学版)》[ISSN:1671-6833/CN:41-1339/T]

卷:
44卷
期数:
2023年03期
页码:
3-13
栏目:
出版日期:
2023-04-30

文章信息/Info

Title:
A Ｒeview on Status and Prospects of Tendon /Cable Driven Continuum Ｒobot
作者:
刘艳红;  张 宽;  霍本岩;  陈鹏冲
郑州大学 电气与信息工程学院,河南 郑州 450001, 郑州大学 机器人感知与控制河南省工程研究中心,河南郑州 450001

Author(s):
LIU Yanhong; ZHANG Kuan; HUO Benyan; CHEN Pengchong
Zhengzhou University School of Electrical and Information Engineering, Henan Zhengzhou 450001, Zhengzhou University Robot Perception and Control Henan Provincial Engineering Research Center, Henan Zhengzhou 450001

关键词:
绳驱动;  机器人;  运动学;  动力学模型;  控制策略
Keywords:
cable driven;  robot;  kinematics;  dynamic model;  control strategy
DOI:
10.13705/j.issn.1671-6833.2023.03.024
文献标志码:
A
摘要:
为了促进肌腱/绳驱动连续体机器人的理论发展和实际应用，从建模方法和控制策略 2 个方面分析并总结 了现有研究成果。首先，介绍了常用肌腱/绳驱动连续体机器人的结构设计方法和发展趋势。在此基础上，总结了 肌腱/绳驱动连续体机器人常用的运动学建模和动力学建模方法，并从建模原理、模型精度、复杂度和计算效率等 方面对各种方法进行了对比，为不同应用场景下肌腱/绳驱动连续体机器人建模方法的选择提供了参考。其次，梳 理了肌腱/绳驱动连续体机器人控制中存在的模型失配、参数扰动和动态响应等问题产生的原因，以问题为导向， 将现有控制策略分为基于模型控制、无模型控制和混合控制 3 类，并对每种控制策略在开环和闭环应用场景中的 实施方法、优缺点和发展趋势进行了归纳总结。最后，指出了肌腱/绳驱动连续体机器人在建模和控制方面还存在 的研究挑战，并对其未来的发展方向进行了展望。
Abstract:
To promote the theoretical development and practical application of tendon /cable driven continuum robots，the relevant studies were analyzed and summarized from the aspect of modeling and control． Firstly，the structure design methods and development trend of tendon /cable driven continuum robots were introduced． On this basis，the kinematic and dynamic modeling methods of tendon /cable driven continuum robots were summarized． The modeling methods were compared from the view of modeling principles，model accuracy，complexity and computational efficiency，which would provide a guideline to select the modeling methods in different application scenarios． Then，the reason of model mismatch，parameter perturbation and dynamic response in the control of tendon / cable driven continuum robots was discussed and the existing control strategies were divided into three categories including model-based control，model-free control and hybrid control． The implementation methods，advantages and disadvantages and the development trends of control strategies in open loop and closed loop application scenarios were surveyed． Finally，the challenges in modeling and control of tendon /cable driven continuum robots were concluded and the future development direction was prospected
更新日期/Last Update: 2023-05-09