Building a CableBot and Learning the Dynamics Model and the Controller
Controlling cable driven master slave robots is a challenging task. Fast and precise motion planning requires stabilizing struts which are disruptive elements in robot-assisted surgeries. In this work, we study parallel kinematics with an active deceleration mechanism that does not require any hindering struts for stabilization.
Reinforcement learning is used to learn control gains and model parameters which allow for fast and precise robot motions without overshooting. The developed mechanical design as well as the controller optimization framework through learning can improve the motion and tracking performance of many widely used cable-driven master slave robots in surgical robotics.
- Montanuniversität Leoben
H Yuan, E Courteille, D Deblaise (2015). Static and dynamic stiffness analyses of cable-driven parallel robots with non-negligible cable mass and elasticity, Mechanism and Machine Theory, 2015 – Elsevier, link.
MA Khosravi, HD Taghirad (2011). Dynamic analysis and control of cable driven robots with elastic cables, Transactions of the Canadian Society for Mechanical Engineering 35.4 (2011): 543-557, link.
Dynamic Control Strategies for Cable-Driven Master Slave Robots Proceedings Article
In: Keck, Tobias (Ed.): Proceedings on Minimally Invasive Surgery, Luebeck, Germany, 2019, (January 24-25, 2019).