Adaptive Algorithms for Performance Improvement of a Class of Continuum Manipulators

摘要

This paper addresses the position control of continuum manipulators. Their performances in terms of speed limitation and position accuracy are often mediocre compared with rigid body based robots. In regards to continuum manipulators control, nonadaptive kinematic schemes were shown poor performance in terms of tracking position accuracy, and existing adaptive schemes were time-consuming. This paper presents a novel adaptive control scheme, namely the adaptive support vector regressor controller. The proposed approach exploits the optimization learning methods which yield global solutions of the training problem while keeping small size regressors. These characteristics make it possible to accelerate the convergence of the closed-loop system, thus reducing the execution time. The experimental results obtained using the compact bionic handling assistant robot demonstrate that nonadaptive kinematic architectures even in the presence of accurate learning models are not robust enough to deal with these challenging platforms and that adaptive control schemes can significantly improve the performance.