Work

Durability-Aware Trajectory Planning and Quasi-Static Control of a Continuum Parallel Robot for Industrial Applications

Year: 2025

Type: article

Abstract: This paper addresses durability-aware trajectory planning and tracking strategies for the motion of the platform in an extensible planar tendon-actuated continuum parallel robot (CPR). The proposed planning approach combines the A* algorithm with the Geometric Variable Strain (GVS) static Cosserat rod model, incorporating a durability-related cost alongside Euclidean distance to enhance the durability of the robot's legs in pick-and-place applications. Simulation results demonstrate a$23\%$reduction in the durability-related cost compared to the shortest-path trajectory. Additionally, the same GVS static model is used to extend the classical Jacobian-based controller to the CPR case, with multiple legs geometrically constrained, for precise and robust quasi-static tracking of the planned trajectories. Experimental validation is conducted under nominal conditions and in the presence of external disturbances, including end-effector loading and temporary manual perturbations, demonstrating the effectiveness and robustness of the proposed strategies, achieving a mean tracking error below$0.84\%$and a maximum error below$4.2\%$, with respect to the length of the CPR leg.

Source: IEEE Robotics and Automation Letters

DOI: 10.1109/lra.2025.3619707

Authors: A. Ouyoucef, Q. Peyron, G. Zheng, F. Boyer

Institutions: Institut national de recherche en sciences et technologies du numérique, Centre de Recherche en Informatique, Signal et Automatique de Lille, Centrale Lille Institut, Laboratoire des Sciences du Numérique de Nantes, IMT Atlantique

Language: English

Topic: Soft Robotics and Applications

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: green

Funders: Agence Nationale de la Recherche, Région Hauts-de-France