A Non-Linear Model Predictive Task-Space Controller Satisfying Shape Constraints for Tendon-Driven Continuum Robots
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arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866912030338842624 |
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| author | Hachen, Maximillian Shentu, Chengnan Lilge, Sven Burgner-Kahrs, Jessica |
| author_facet | Hachen, Maximillian Shentu, Chengnan Lilge, Sven Burgner-Kahrs, Jessica |
| contents | Tendon-Driven Continuum Robots (TDCRs) have the potential to be used in minimally invasive surgery and industrial inspection, where the robot must enter narrow and confined spaces. We propose a Model Predictive Control (MPC) approach to leverage the non-linear kinematics and redundancy of TDCRs for whole-body collision avoidance, with real-time capabilities for handling inputs at 30Hz. Key to our method's effectiveness is the integration of a nominal Piecewise Constant Curvature (PCC) model for efficient computation of feasible trajectories, with a local feedback controller to handle modeling uncertainty and disturbances. Our experiments in simulation show that our MPC outperforms conventional Jacobian-based controller in position tracking, particularly under disturbances and user-defined shape constraints, while also allowing the incorporation of control limits. We further validate our method on a hardware prototype, showcasing its potential for enhancing the safety of teleoperation tasks. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_09970 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Non-Linear Model Predictive Task-Space Controller Satisfying Shape Constraints for Tendon-Driven Continuum Robots Hachen, Maximillian Shentu, Chengnan Lilge, Sven Burgner-Kahrs, Jessica Robotics Tendon-Driven Continuum Robots (TDCRs) have the potential to be used in minimally invasive surgery and industrial inspection, where the robot must enter narrow and confined spaces. We propose a Model Predictive Control (MPC) approach to leverage the non-linear kinematics and redundancy of TDCRs for whole-body collision avoidance, with real-time capabilities for handling inputs at 30Hz. Key to our method's effectiveness is the integration of a nominal Piecewise Constant Curvature (PCC) model for efficient computation of feasible trajectories, with a local feedback controller to handle modeling uncertainty and disturbances. Our experiments in simulation show that our MPC outperforms conventional Jacobian-based controller in position tracking, particularly under disturbances and user-defined shape constraints, while also allowing the incorporation of control limits. We further validate our method on a hardware prototype, showcasing its potential for enhancing the safety of teleoperation tasks. |
| title | A Non-Linear Model Predictive Task-Space Controller Satisfying Shape Constraints for Tendon-Driven Continuum Robots |
| topic | Robotics |
| url | https://arxiv.org/abs/2409.09970 |