Impact of Added Passive Compliance On the Performance of Tip-Actuated Flexible Manipulators

IF 1.7 4区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2023-10-09 DOI:10.1115/1.4063488

Barat S, Sushrut Sudarshan Surve, Rwik Rana, Madhu Vadali, Harish J. Palanthandalam-Madapusi

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Abstract

Abstract With their inherent compliance, flexible manipulator systems (FMSs) are increasingly finding new applications, such as robotic surgeries requiring safe interaction with the environment. While force-controlled FMSs are desirable, an added passive, compliant element can enhance safety while preserving performance. This paper explores the effects of added compliance on tip-actuated FMSs. A detailed analysis compares the impacts of additional compliance, and comparisons are made with a baseline no-compliance case. It is observed that the series compliance provides added safety but with some compromise on performance and stability. In contrast, parallel compliance improves stability and performance without compromising safety in interaction. While similar insights have been well-understood in the context of rigid-link robots, it is interesting to observe that additional series compliance in tip-actuated flexible manipulators is undesirable, unlike for rigid-link robots.

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附加被动柔度对尖端驱动柔性机械臂性能的影响

由于其固有的顺应性，柔性机械臂系统(FMSs)正越来越多地找到新的应用，例如需要与环境安全交互的机器人手术。虽然力控fms是可取的，但增加被动、柔性元件可以在保持性能的同时提高安全性。本文探讨了附加顺应性对尖端驱动FMSs的影响。详细的分析比较了额外遵守的影响，并与基线不遵守的情况进行了比较。可以观察到，串联合规性提供了额外的安全性，但在性能和稳定性方面有一些妥协。相比之下，并行遵从性在不影响交互安全性的情况下提高了稳定性和性能。虽然在刚性连杆机器人的背景下，类似的见解已经得到了很好的理解，但有趣的是，与刚性连杆机器人不同，在尖端驱动的柔性机械手中，额外的系列顺应性是不可取的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme 工程技术-仪器仪表

CiteScore

3.90

自引率

11.80%

发文量

审稿时长

24.0 months

期刊介绍： The Journal of Dynamic Systems, Measurement, and Control publishes theoretical and applied original papers in the traditional areas implied by its name, as well as papers in interdisciplinary areas. Theoretical papers should present new theoretical developments and knowledge for controls of dynamical systems together with clear engineering motivation for the new theory. New theory or results that are only of mathematical interest without a clear engineering motivation or have a cursory relevance only are discouraged. "Application" is understood to include modeling, simulation of realistic systems, and corroboration of theory with emphasis on demonstrated practicality.