A Consensus Strategy for Decentralized Kinematic Control of Multi-Segment Soft Continuum Robots

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  • Additional Information
    • Publication Information:
      AACC
    • Publication Date:
      2020
    • Abstract:
      This paper proposes a novel decentralized approach to kinematic control of soft segmented continuum robots based on a consensus strategy. The robots under consideration deform in a plane according to a multi-segment Piecewise Constant Curvature (PCC) kinematic model in which each segment is represented as an equivalent rigid-link Revolute-Prismatic-Revolute (RPR) mechanism. In our approach, we assume that each segment of the robot is equipped with sensors to measure joint variables in its local coordinate frame and can communicate with its two adjacent segments. Our consensusbased decentralized control strategy provides an alternative to conventional control methods, which solve the inverse kinematic problem by using computationally intensive numerical methods to calculate the robot’s Jacobian matrix at each time instant. We investigate the stability and convergence properties of proposed controllers for position regulation and trajectory tracking tasks and provide theoretical guarantees on the controllers’ performance. We evaluate the controllers in simulation for scenarios in which the robot’s tip must reach a certain position or follow a specified trajectory. We compare the performance of the position regulator for different controller gains, and we find that a simulated 15-link robot can track a complex reference trajectory with an average root-mean-square error of only 0.16% of the robot’s initial length.
    • Contents Note:
      Conference Acronym: ACC
    • Author Affiliations:
      Arizona State University (ASU),School of Electrical, Computer and Energy Engineering,Tempe,AZ,85287
      Transport and Energy, ASU,School for Engineering of Matter,Tempe,AZ,85287
    • ISBN:
      978-1-5386-8266-1
      978-1-5386-8265-4
    • ISSN:
      2378-5861
    • Relation:
      2020 American Control Conference (ACC)
    • Accession Number:
      10.23919/ACC45564.2020.9147239
    • Rights:
      Copyright 2020, AACC
    • AMSID:
      9147239
    • Conference Acronym:
      ACC
    • Date of Current Version:
      2020
    • Document Subtype:
      IEEE Conference
    • Notes:
      Conference Location: Denver, CO, USA, USA

      Conference Start Date: 1 July 2020

      Conference End Date: 3 July 2020
    • Accession Number:
      edseee.9147239
  • Citations
    • ABNT:
      LAFMEJANI, A. S. et al. A Consensus Strategy for Decentralized Kinematic Control of Multi-Segment Soft Continuum Robots. 2020 American Control Conference (ACC), American Control Conference (ACC), 2020, [s. l.], p. 909–916, 2020. DOI 10.23919/ACC45564.2020.9147239. Disponível em: http://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=edseee&AN=edseee.9147239. Acesso em: 30 set. 2020.
    • AMA:
      Lafmejani AS, Farivarnejad H, Doroudchi A, Berman S. A Consensus Strategy for Decentralized Kinematic Control of Multi-Segment Soft Continuum Robots. 2020 American Control Conference (ACC), American Control Conference (ACC), 2020. July 2020:909-916. doi:10.23919/ACC45564.2020.9147239
    • APA:
      Lafmejani, A. S., Farivarnejad, H., Doroudchi, A., & Berman, S. (2020). A Consensus Strategy for Decentralized Kinematic Control of Multi-Segment Soft Continuum Robots. 2020 American Control Conference (ACC), American Control Conference (ACC), 2020, 909–916. https://doi.org/10.23919/ACC45564.2020.9147239
    • Chicago/Turabian: Author-Date:
      Lafmejani, Amir Salimi, Hamed Farivarnejad, Azadeh Doroudchi, and Spring Berman. 2020. “A Consensus Strategy for Decentralized Kinematic Control of Multi-Segment Soft Continuum Robots.” 2020 American Control Conference (ACC), American Control Conference (ACC), 2020, July, 909–16. doi:10.23919/ACC45564.2020.9147239.
    • Harvard:
      Lafmejani, A. S. et al. (2020) ‘A Consensus Strategy for Decentralized Kinematic Control of Multi-Segment Soft Continuum Robots’, 2020 American Control Conference (ACC), American Control Conference (ACC), 2020, pp. 909–916. doi: 10.23919/ACC45564.2020.9147239.
    • Harvard: Australian:
      Lafmejani, AS, Farivarnejad, H, Doroudchi, A & Berman, S 2020, ‘A Consensus Strategy for Decentralized Kinematic Control of Multi-Segment Soft Continuum Robots’, 2020 American Control Conference (ACC), American Control Conference (ACC), 2020, pp. 909–916, viewed 30 September 2020, .
    • MLA:
      Lafmejani, Amir Salimi, et al. “A Consensus Strategy for Decentralized Kinematic Control of Multi-Segment Soft Continuum Robots.” 2020 American Control Conference (ACC), American Control Conference (ACC), 2020, July 2020, pp. 909–916. EBSCOhost, doi:10.23919/ACC45564.2020.9147239.
    • Chicago/Turabian: Humanities:
      Lafmejani, Amir Salimi, Hamed Farivarnejad, Azadeh Doroudchi, and Spring Berman. “A Consensus Strategy for Decentralized Kinematic Control of Multi-Segment Soft Continuum Robots.” 2020 American Control Conference (ACC), American Control Conference (ACC), 2020, July 1, 2020, 909–16. doi:10.23919/ACC45564.2020.9147239.
    • Vancouver/ICMJE:
      Lafmejani AS, Farivarnejad H, Doroudchi A, Berman S. A Consensus Strategy for Decentralized Kinematic Control of Multi-Segment Soft Continuum Robots. 2020 American Control Conference (ACC), American Control Conference (ACC), 2020 [Internet]. 2020 Jul 1 [cited 2020 Sep 30];909–16. Available from: http://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=edseee&AN=edseee.9147239