ウ　ジンソク   WOO JINSEOK   禹　珍碩    所属   工学部 機械工学科    職種   准教授
言語種別	英語
発行・発表の年月	2025/10
形態種別	学術論文
査読	査読あり
標題	Modeling and Trajectory Tracking Control of Continuum Robot with Magnetic Spacer Disks and Soft Drives
執筆形態	共著
掲載誌名	IEEE Transactions on Automation Science and Engineering
掲載区分	国外
出版社・発行元	IEEE
総ページ数	16
国際共著	国際共著
著者・共著者	Shiying Zhao, Qingxin Meng, Xuzhi Lai, Jinseok Woo, Jinhua She, Edwardo Fumihiko Fukushima, Min Wu
概要	This paper proposes efficient modeling and control methods for a continuum robot (CR) composed of a three-segment robot body (two proximal segments and a distal segment with an endpoint) and soft drives. Each segment incorporates multiple mutually exclusive magnetic spacer disks for a flexible structure, and the soft drives are designed based on pneumatic soft actuators (PSAs) to ensure operational safety. For both computational efficiency and tracking performance, an open-loop control method based on the kinematic model of the robot body is adopted to operate the two proximal segments, and a feedforward-feedback control method based on the dynamic model of the distal segment derived from the Euler-Lagrange method is proposed to control the endpoint trajectory. During the dynamic modeling process of the distal segment, the magnetic potential energy is considered additionally by simplifying the magnetic spacer disks to multiple magnetic dipoles. Moreover, the relationship between the input pressures of the soft drives and the generalized force of the dynamic model is derived from the three-element model and the principle of virtual power. Experiments demonstrate the effectiveness of the proposed modeling and control method.
DOI	10.1109/TASE.2025.3620829
外部リンクURL	https://ieeexplore.ieee.org/document/11202512