TY - GEN
T1 - Developing a Leader-Follower Kinematic-Based Control System for a Cable-Driven Hyper-redundant Serial Manipulator
AU - Zaraki, Abolfazl
AU - Hayashi, Yoshikatsu
AU - George, Daniel
AU - Thorpe, Harry
AU - Strong, Vincent
AU - Larsen, Gisle Andre
AU - Jackson, Benjamin
AU - Holderbaum, William
N1 - © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2021/11/21
Y1 - 2021/11/21
N2 - In this paper, a cable-driven hyper-redundant manipulator using leader-follower control is explored. The proposed system is being developed for the purpose of exploration and inspection of highly confined spaces. Using a tele-operated joystick, an operator will have direct control over the end-effector, which will determine the trajectory and motion of the robotic system through the leader-follower control. To develop a control system for the manipulator, the kinematic relationships between the cables, motors and joints were firstly explored. Based on these relationships the system is modelled mathematically from the user to the robot end-effector. Using the kinematic equations, a control system was developed in MATLAB simulink. A prototype was developed to measure and validate kinematic relationships between the cables and joints of the system. An Error detection and correction mechanism is implemented using proportional control, validating the Kp value using the prototype system. To verify the kinematics and the proposed control system, a simulation was conducted using the MATLAB robotic toolbox. The simulation result demonstrated the promising capability of the proposed leader-follower control system in controlling the robot motion and its trajectory.
AB - In this paper, a cable-driven hyper-redundant manipulator using leader-follower control is explored. The proposed system is being developed for the purpose of exploration and inspection of highly confined spaces. Using a tele-operated joystick, an operator will have direct control over the end-effector, which will determine the trajectory and motion of the robotic system through the leader-follower control. To develop a control system for the manipulator, the kinematic relationships between the cables, motors and joints were firstly explored. Based on these relationships the system is modelled mathematically from the user to the robot end-effector. Using the kinematic equations, a control system was developed in MATLAB simulink. A prototype was developed to measure and validate kinematic relationships between the cables and joints of the system. An Error detection and correction mechanism is implemented using proportional control, validating the Kp value using the prototype system. To verify the kinematics and the proposed control system, a simulation was conducted using the MATLAB robotic toolbox. The simulation result demonstrated the promising capability of the proposed leader-follower control system in controlling the robot motion and its trajectory.
KW - Hyper-redundant robots
KW - Kinematic analysis
KW - Semi-autonomous control
KW - Serial manipulators
UR - http://www.scopus.com/inward/record.url?scp=85121675339&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-91352-6_1
DO - 10.1007/978-3-030-91352-6_1
M3 - Conference contribution
AN - SCOPUS:85121675339
SN - 9783030913519
T3 - Springer Proceedings in Advanced Robotics
SP - 1
EP - 12
BT - 2nd IMA Conference on Mathematics of Robotics, IMA 2020
A2 - Holderbaum, William
A2 - Selig, J. M.
PB - Springer Nature Link
T2 - 2nd IMA Conference on Mathematics of Robotics, IMA 2020
Y2 - 8 September 2021 through 10 September 2021
ER -