IITGN researchers develop method to simplify control of flexible robots, improving precision in surgery and automation
Researchers at Indian Institute of Technology Gandhinagar have developed a new control method that simplifies how flexible robots move, improving precision and reducing computational load in systems designed for surgery and confined environments.
The approach targets tendon-driven continuum robots, or TDCRs, which are soft, flexible machines that can bend and twist like biological structures. These robots are useful in tight spaces, such as inside the human body, but are difficult to control due to their complex motion.Unlike rigid robots with fixed joints, TDCRs have nearly infinite ways to move. This makes predicting and controlling their position a major challenge, especially when multiple sections interact with each other.Existing solutions often rely on heavy computation, limiting their ability to operate in real time. The new method aims to overcome this by simplifying how robot motion is represented and controlled.Simpler control, better precisionThe team introduced a framework called virtual actuation space, or VAS, which models the robot’s motion using just two parameters: direction and magnitude. This reduces the need to directly control each tendon.“While a rigid robot may have a fixed number of joints that would limit its movement, a TDCR can bend or twist in infinite ways. The situation is further complicated by multiple sections of the robot. Increasing the number of sections would increase the number of tendons, with these tendons influencing the movement of one another,,” said Madhu Vadali.“These aspects give rise to a tedious and stubborn puzzle of choosing the right tendon to achieve a desired position or shape of a TDCR.”By using VAS, each section of the robot can be controlled independently, avoiding interference between segments. This marks a shift from traditional systems, where movement in one section can unintentionally affect others.To test the approach, the researchers built a two-section robotic arm controlled by six motors. A motion capture system tracked its movements using LED markers, allowing precise comparison between desired and actual positions.Robots move more preciselyThe robot was tasked with reaching multiple target points and following complex paths, including shapes like a pentagon, spiral, and curves. In these tests, the system achieved an error margin of less than one percent.“To estimate this method’s effectiveness, we developed a robotic arm with two sections. Further, we had six motors to control tendon lengths for accurate TDCR bending,” said Md Modassir Firdaus.“Small LED markers allowed the camera to track the robot’s position. Later, a computer compared the actual position with the robot’s desired position and adjusted the motors accordingly,” added Shail Jadav.The results also showed that different sections of the robot could operate independently. One part could bend while another remained still, improving control in tasks that require precision.The researchers say the method could be applied to more complex systems with additional sections, making it useful for surgical procedures, industrial automation, and inspections in confined spaces such as aircraft engines.The study was published in Robotica.
Continuum Robots Control Systems IIT Gandhinagar Precision Robotics Surgical Robots Tendon-Driven Robots
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