학술논문
Modeling and Compensation of Stiffness-Dependent Hysteresis for Stiffness-Tunable Tendon-Sheath Mechanism in Flexible Endoscopic Robots
Document Type
Periodical
Source
IEEE Transactions on Industrial Electronics IEEE Trans. Ind. Electron. Industrial Electronics, IEEE Transactions on. 71(8):9328-9338 Aug, 2024
Subject
Language
ISSN
0278-0046
1557-9948
1557-9948
Abstract
Robot-assisted gastrointestinal endoscopic surgery requires flexible manipulators to possess a compact dimension and stiffness tuning capability. Current stiffness-tunable miniature manipulators (STMM) using tendon-sheath mechanism (TSM) experience the problem of stiffness-influenced hysteresis. To address this, we propose the first stiffness-dependent M odified G eneralized P randtl– I shlinski (PI) model and a specific compensation strategy. First, we analyzed the stiffness tuning mechanism and extracted the stiffness parameter. Based on this, the analytical hysteresis model and its inverse function were built and verified in simulations and experiments, which increases the fitting accuracy of the hysteresis. Then, with the assistance of the compensation strategy, the real-time input–output relationship of the STMM's stiffness-tunable joints can be approximately linear. The average errors of trajectory tracking achieve a significant improvement of over 85%. This work provides a new method to model and compensate for the dynamic hysteresis in flexible endoscopic robots with the stiffness-tunable TSM.