通过旋转盘片简化绳索驱动机械臂的形状匹配控制。
Actuation space reduction to facilitate insightful shape matching in a novel reconfigurable tendon driven continuum manipulator
- 用可旋转盘片动态调整绳索路径，扩展执行空间。
- 先粗调整体形状，再微调末端位置，减少对全局形态影响。
- 无需建模即可实现精准控制，适合复杂变形场景。
在绳索驱动连续体机械臂（TDCMs）中，重新配置绳索路径可实现骨干的定制化空间变形。本文提出一种新设计：通过主动旋转单个间隔盘，在动作前或动作后重布绳索路径。每次盘片旋转增加一个执行自由度，使从期望骨干曲线映射到执行器输入的复杂性上升。然而，当骨干形状投影到由曲率与扭转（C-T）定义的中间空间时，显现出哪些盘片对整体形状影响最大。这一洞察支持一种简化的顺序形变匹配策略：先旋转近端和中间盘片以逼近整体形状，再调整远端盘片微调末端位置，对整体形状影响最小。所提执行框架为传统控制方法提供了一种无模型替代方案，避免了可重构TDCM建模的复杂性。
原文摘要 · Abstract (English)
In tendon driven continuum manipulators (TDCMs), reconfiguring the tendon routing enables tailored spatial deformation of the backbone. This work presents a design in which tendons can be rerouted either prior to or after actuation by actively rotating the individual spacer disks. Each disk rotation thus adds a degree of freedom to the actuation space, complicating the mapping from a desired backbone curve to the corresponding actuator inputs. However, when the backbone shape is projected into an intermediate space defined by curvature and torsion (C-T), patterns emerge that highlight which disks are most influential in achieving a global shape. This insight enables a simplified, sequential shape-matching strategy: first, the proximal and intermediate disks are rotated to approximate the global shape; then, the distal disks are adjusted to fine-tune the end-effector position with minimal impact on the overall shape. The proposed actuation framework offers a model-free alternative to conventional control approaches, bypassing the complexities of modeling reconfigurable TDCMs.
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