提出轻量级能量建模框架，实现缆控连续体机器人的高精度实时动力学预测。
Lightweight Dynamic Modeling of Cable-Driven Continuum Robots Based on Actuation-Space Energy Formulation
- 在驱动空间直接构建势能模型，简化结构并避免接触力计算。
- 仅需欧拉力矩平衡即得动力学方程，较现有方法提速62.3%。
- 原生支持力输入与位移输入两种模式，适合实时控制应用。
缆控连续体机器人（CDCRs）需要精确、实时的动力学模型以支持高速动力学预测或基于模型的控制，该需求尤为迫切。本文提出轻量级驱动空间能量建模（LASEM）框架，直接在驱动空间中构建驱动势能，实现轻量且准确的动力学建模。通过统一变分推导，系统动力学简化为单个偏微分方程（PDE），仅需欧拉力矩平衡，隐式包含牛顿力平衡。同时避免显式计算缆绳-主干接触力，进一步简化模型结构并提升计算效率，同时保持几何精度与物理一致性。重要的是，所提框架原生支持力输入与位移输入两种驱动模式，这一能力在现有动力学公式中罕见。利用该轻量化结构，结合伽辽金时空模态离散化及降阶状态的解析时间导数，相较当前最先进的实时动力学建模方法平均提速62.3%。
原文摘要 · Abstract (English)
Cable-driven continuum robots (CDCRs) require accurate, real-time dynamic models for high-speed dynamics prediction or model-based control, making such capability an urgent need. In this paper, we propose the Lightweight Actuation-Space Energy Modeling (LASEM) framework for CDCRs, which formulates actuation potential energy directly in actuation space to enable lightweight yet accurate dynamic modeling. Through a unified variational derivation, the governing dynamics reduce to a single partial differential equation (PDE), requiring only the Euler moment balance while implicitly incorporating the Newton force balance. By also avoiding explicit computation of cable-backbone contact forces, the formulation simplifies the model structure and improves computational efficiency while preserving geometric accuracy and physical consistency. Importantly, the proposed framework for dynamic modeling natively supports both force-input and displacement-input actuation modes, a capability seldom achieved in existing dynamic formulations. Leveraging this lightweight structure, a Galerkin space-time modal discretization with analytical time-domain derivatives of the reduced state further enables an average 62.3% computational speedup over state-of-the-art real-time dynamic modeling approaches.
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