用时延滤波器抑制绳驱动软机械臂的余振，提升定位精度。
Input Shaping for Point-to-Point Motion with a Continuum Robot Arm
- 设计非鲁棒与鲁棒时延滤波器，从输入端抑制振动
- 实验显示超调量与稳定时间显著降低，余振减弱
- 鲁棒滤波器效果优于非鲁棒，适合复杂轨迹应用
绳驱动软机械臂属于欠驱动系统，在静止到静止运动结束时可能产生残余振动。本文基于线性系统模型，设计非鲁棒与鲁棒时延滤波器作为输入整形器，以消除振动模态激励。与速度脉冲输入相比，该方法显著改善了系统响应。实验验证表明，采用输入整形器后，末端超调量和稳定时间明显减少，振动得到有效抑制。进一步比较发现，鲁棒型整形器相比非鲁棒型能更优地提升机械臂性能。这些结果对实现软机械臂在任意末端轨迹任务中的高精度、高鲁棒性控制具有重要意义。
原文摘要 · Abstract (English)
A cable-driven continuum robot arm is an underactuated mechanism and may suffer residual vibration at the end of a rest-to-rest maneuver. In this work, a time-delay filter is applied as an input shaper to the system to eliminate the excitation of vibratory modes. A non-robust and a robust time-delay filter are designed based on a linear system model and demonstrate improved response compared to a velocity-driven pulse input. Experimental results using the continuum robot validate the application of the input shaper, with reduced overshoot and settling time exemplifying the reduction in oscillation at the end of the maneuver. It is also shown that utilizing the robust shaper further improves the response of the arm in comparison to applying the non-robust shaper. These results are significant towards the precise and robust implementation of continuum robots in applications involving arbitrary end-effector trajectories.
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