Modeling and Control for a Class of Tendon-Driven Continuum Mechanism

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Bibliographic data

Edition: 1/2020
Copyright year: 2020
ISBN-Online: 978-3-95900-476-3
Publisher: TEWISS, Garbsen
Language: German
Pages: 223
Product type: Book Titles

ChapterPages

1. Preface No access
2. Abstract No access
3. Kurzfassung No access
4. Contents No access
5. List of symbols No access
1. 1. 1.1.1 Modeling of continuum mechanisms No access
  2. 1.1.2 State estimation of continuum mechanisms No access
  3. 1.1.3 Control of continuum mechanisms No access
2. 1. 1.2.1 Modeling No access
  2. 1.2.2 State estimation No access
  3. 1.2.3 Control No access
3. 1.3 Organization of the work No access
1. 1. 2.1.1 Elastic Continuum Mechanism No access
  2. 2.1.2 Tendon actuation system No access
2. 1. 2.2.1 Planar testbed No access
  2. 2.2.2 Spatial testbed No access
3. 2.3 Summary No access
1. 1. 3.1.1 Beam Kinematics No access
  2. 3.1.2 Head Kinematics No access
  3. 3.1.3 Constitutive equations No access
2. 1. 3.2.1 Internal forces No access
  2. 3.2.2 External forces No access
  3. 3.2.3 Dynamic forces No access
  4. 3.2.4 Summary No access
3. 3.3 Discretization No access
4. 1. 3.4.1 Identification process No access
  2. 3.4.2 Neo-Hookean compression stiffness No access
  3. 3.4.3 Planar System No access
  4. 3.4.4 Spatial system No access
5. 1. 3.5.1 Workspace analysis of the planar system No access
  2. 3.5.2 Dynamic characteristic of the planar system No access
  3. 3.5.3 Torsional workspace of the spatial system No access
  4. 3.5.4 Kinematic approximation of the spatial workspace No access
  5. 3.5.5 Computation time No access
6. 3.6 Summary No access
1. 4.1 Assumptions & model reduction No access
2. 1. 4.2.1 Admissible wrench set No access
  2. 4.2.2 Simulation No access
  3. 4.2.3 Experimental design No access
  4. 4.2.4 Experimental results No access
3. 1. 4.3.1 Motor dynamics No access
  2. 4.3.2 Tendon coupling No access
4. 4.4 Summary No access
1. 1. 5.1.1 Length sensors No access
  2. 5.1.2 Force torque sensor No access
  3. 5.1.3 Inertial measurement unit No access
2. 1. 5.2.1 Optimization algorithms No access
  2. 5.2.2 Reduced kinematic models No access
  3. 5.2.3 Six DoF kinematic model No access
3. 5.3 State estimation based on static models No access
4. 1. 5.4.1 State space equations No access
  2. 5.4.2 Extended Kalman Filter No access
  3. 5.4.3 Summary No access
5. 1. 5.5.1 Sensor accuracy and initialization No access
  2. 5.5.2 Reaching static poses No access
  3. 5.5.3 Actuated dynamic motion No access
  4. 5.5.4 Manual interaction No access
6. 5.6 Discussion and summary No access
1. 1. 6.1.1 Control structure No access
  2. 6.1.2 Set point generation No access
  3. 6.1.3 Desired performance No access
2. 6.2 Tendon tension control No access
3. 6.3 H-synthesis using a structured description of nonlinearities No access
4. 1. 6.4.1 Input Output Normal Form No access
  2. 6.4.2 Partial feedback linearization No access
  3. 6.4.3 Passivity based approach No access
5. 6.5 Feedforward compensation of the continuum No access
6. 1. 6.6.1 Experimental setup No access
  2. 6.6.2 Steady state accuracy No access
  3. 6.6.3 Transient behavior No access
  4. 6.6.4 External disturbances No access
7. 1. 6.7.1 Preliminary study: SISO systems No access
  2. 6.7.2 Application onto MIMO systems No access
8. 1. 6.8.1 Projection of pretensions No access
  2. 6.8.2 Generation of suitable set points No access
9. 6.9 Summary No access
7 Summary & outlook No access Pages 175 - 182
1. A.1 Example 1: Planar system No access
2. A.2 Example 2: Spatial system No access
1. B.1 Experimental setup No access
2. 1. B.2.1 Pose measurement and calibration No access
  2. B.2.2 Wrench measurement and calibration No access
3. 1. B.3.1 Comparison of Planning Strategies No access
  2. B.3.2 Comparison of Control Strategies No access
Bibliography No access Pages 207 - 223