Optimized Computer Torque Control and Dynamic Model of a Spatial Single Section Continuum robot
Selman Djeffal, Abdelhamid Ghoul, Mohamed Razi Morakchi, Chawki Mahfoudi, Meriem Belkedari
Abstract
In this paper, an Optimized Computer Torque Controller (OCTC) based on dynamic model for a variable continuum robot is elaborately developed. Basically, the OCTC is applied for the first time on continuum robots in this paper aiming at finding out the required robot’s cables tension as well as the robot’s orientation/bending angles during tracking any prescribed trajectory. Interestingly, particle swarm optimization (PSO) is used to optimize CTC’s parameters which enables the robot to perform tasks with high precision and stability, even in the presence of external perturbations or uncertainties. The proposed controller is evaluated by testing its ability to track multiple trajectories even in the presence of external perturbations. The results of these simulations show that the OCTC controller exhibits superior performance in terms of settling time, overshoot, and robustness against disturbances for the continuum robots. It is noteworthy to say that CTC is able to capture the behavior of the robot quite rapidly when the robot faces a disturbance which perfectly fits in with real-world applications of continuum robot.