摘要
In the application of an unstructured environment, a continuum robot has more advantages than a conventional robot. However, Us dynamic modeling and control are more complex. In this paper, we design a cable-driven single joint continuum robot and take it as a research object First, based on the constant curvature hypothesis, the dynamic model of the continuum robot is established according to the structure using the Lagrange method Then, a robust H∞ controller based on LMI is proposed by considering the model perturbation in the modeling process,. Finally, the availability of the designed controller is verified by simulation and experiment.
| 源语言 | 英语 |
|---|---|
| 主期刊名 | Proceeding - 2021 China Automation Congress, CAC 2021 |
| 出版商 | Institute of Electrical and Electronics Engineers Inc. |
| 页 | 6714-6719 |
| 页数 | 6 |
| ISBN（电子版） | 9781665426473 |
| DOI | |
| 出版状态 | 已出版 - 2021 |
| 已对外发布 | 是 |
| 活动 | 2021 China Automation Congress, CAC 2021 - Beijing, 中国 期限: 22 10月 2021 → 24 10月 2021 |
出版系列
| 姓名 | Proceeding - 2021 China Automation Congress, CAC 2021 |
|---|
会议
| 会议 | 2021 China Automation Congress, CAC 2021 |
|---|---|
| 国家/地区 | 中国 |
| 市 | Beijing |
| 时期 | 22/10/21 → 24/10/21 |
指纹
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Shi, J., Li, J., Li, F., Hu, J., Chang, X., & Lin, Y. (2021). Dynamic Modeling and Robust Control Strategy of Cable-Driven Single Joint Continuum Robot. 在 Proceeding - 2021 China Automation Congress, CAC 2021 (页码 6714-6719). (Proceeding - 2021 China Automation Congress, CAC 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CAC53003.2021.9728485