肌腱驱动连续体/软体机器人控制策略  

The Control Strategy of Tendon-Driven Continuum/Soft Robot

作　　者：王红红 杜敬利[1] 保宏[1] WANG Honghong;DU Jingli;BAO Hong(Key Laboratory of Electronic Equipment Structure Design,Ministry of Education,Xidian University,Xi'an 710071,China)

机构地区：[1]西安电子科技大学电子装备结构设计教育部重点实验室,陕西西安710071

出　　处：《机器人》2020年第5期626-640,共15页Robot

基　　金：国家自然科学基金(51675398,51775401)。

摘　　要：深入分析了为肌腱驱动连续体机器人开发的各种控制器,以作为肌腱驱动连续体机器人领域未来应用的参照.控制策略分为基于模型的控制和无模型控制,其中,基于模型的控制可分为静态控制、动态控制及几何运动学模型控制;而无模型控制是一个相对未知的领域,本文主要从无模型静态控制、无模型动态控制及无模型形状感知控制3个方面进行全面分析.最后,对基于模型和无模型的各种控制策略进行了综合评价,并对该领域未来的研究方向进行了展望.Various controllers developed for tendon-driven continuum robot are analyzed in-depth, which can be used as a reference for future applications in the field of tendon-driven continuum robot. The control strategy is divided into modelbased control and model-free control. Among them, model-based control can be divided into static control, dynamic control and geometric kinematics model control. Model-free control is a relatively unknown field. Comprehensive analysis is carried out from model-free static control, model-free dynamic control and model-free shape perception control. Finally, the various model-based and mode-free control strategies are evaluated, and the future research direction in this field is prospected.

关 键 词：软体机器人 连续体机器人 运动控制 肌腱驱动 控制策略 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]