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- W3120668859 abstract "Continuum robots (CRs) outperform the conventional rigid-link manipulators in aspects of hyper-redundant and compliant features. They provide universal and efficient solutions to access to constrained environments, e.g., aero engines and industrial vessels. In this article, a slender tendon-driven CR (length/diameter: 715/12.7 mm) is introduced for <italic xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>in situ</i> maintenance of aero engine combustors. Two control challenges, the piecewise-constant-curvature (PCC) assumption mismatch and sections coupling issues, are discussed to explain the defect of model-based kinematic controllers on specific designs. Then, inspired by the tug of war, a novel local model-less controller utilizing a fuzzy logic algorithm is proposed for the feedback control of a single section. This implements the control policies directly from the task space to the actuation space, avoiding the model mismatch of the PCC assumption owing to the explicit call of arc parameters. Experiments on a single section of the tendon-driven CR, in comparison with PCC-based method, validate the stability and universality of the developed controller, which can reach <inline-formula xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink><tex-math notation=LaTeX>$ pm 1 - $</tex-math></inline-formula> mm overall positioning accuracy and <inline-formula xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink><tex-math notation=LaTeX>$ pm 0.5$</tex-math></inline-formula> <bold xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>-</b> mm positional accuracy for 75% of the test points in both <italic xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>X</i> and <italic xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>Y</i> directions. Further, a set of trails on two distal sections of a long robot demonstrate that the controller can also effectively minimize the section coupling issue." @default.
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- W3120668859 date "2021-12-01" @default.
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- W3120668859 title "Design and Validation of a Novel Fuzzy-Logic-Based Static Feedback Controller for Tendon-Driven Continuum Robots" @default.
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- W3120668859 doi "https://doi.org/10.1109/tmech.2021.3050263" @default.
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