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This paper investigates the application of time-delay filters as input shapers for a cable-driven continuum robot arm, addressing the issue of residual vibrations during rest-to-rest maneuvers. By designing both non-robust and robust time-delay filters based on a linear system model, the authors demonstrate significant improvements in response characteristics, including reduced overshoot and settling time, when compared to traditional velocity-driven pulse inputs. Experimental validation confirms that the robust shaper outperforms the non-robust version, highlighting its potential for enhancing the precision and reliability of continuum robots in various applications.
Residual vibrations in continuum robots can be effectively eliminated using robust time-delay filters, leading to superior motion control.
A cable-driven continuum robot arm is an underactuated mechanism and may suffer residual vibration at the end of a rest-to-rest maneuver. In this work, a time-delay filter is applied as an input shaper to the system to eliminate the excitation of vibratory modes. A non-robust and a robust time-delay filter are designed based on a linear system model and demonstrate improved response compared to a velocity-driven pulse input. Experimental results using the continuum robot validate the application of the input shaper, with reduced overshoot and settling time exemplifying the reduction in oscillation at the end of the maneuver. It is also shown that utilizing the robust shaper further improves the response of the arm in comparison to applying the non-robust shaper. These results are significant towards the precise and robust implementation of continuum robots in applications involving arbitrary end-effector trajectories.