薛晨菲1 孙瑜1 文庆2 阳淼清3 刘洋4 陆凌云5 陈雪峰1 杨来浩1
（1.西安交通大学，陕西 西安 710049
2.北方自动控制技术研究所，山西 太原 030006
3.中国航发四川燃气涡轮研究院，四川 绵阳 621000
4.大连长丰实业总公司，辽宁 大连 116200
5.深圳华视内窥镜有限公司，广东 深圳 518100）
摘要：针对绳驱动超冗余连续体机器人臂形控制难题，提出了一种基于角度反馈的全臂形闭环控制方法。通过在机器人各关节段集成关节角度传感器，实时测量关节角度，构建了覆盖整条机械臂的全臂形闭环控制系统，从而实现机器人全臂形的准确操作与控制。同时，设计一款21自由度绳驱动超冗余连续体机器人，建立其运动学模型，用于全臂形闭环控制算法验证及模拟飞机油箱的检测任务。实验结果表明，所提全臂形闭环控制方法不仅实现了期望关节角度的高精度跟踪，还实现了机器人全臂形的角度反馈控制，且绳驱动超冗余连续体机器人能够在飞机油箱模拟实验台内灵活穿越，可为相关应用提供理论和技术支撑。
关键词：超冗余连续体机器人；全臂形控制；关节角反馈；运动学模型；飞机油箱检测
中图分类号：TP242 文献标志码：A 文章编号：1674-2605(2026)06-0003-10
DOI：10.12475/aie.20260103 开放获取
Whole-bodyShape Closed-loop Control Method for Cable-driven Hyper-redundant Continuum Robots
XUE Chenfei1 SUN Yu1 WEN Qing2 YANG Miaoqing3 LIU Yang4 LU Lingyun5
CHEN Xuefeng1 YANG Laihao1
(1.Xi’an Jiaotong University, Xi’an 710049, China
2.North Automatic Control Technology Institute, Taiyuan 030006, China
3.AECC Sichuan Gas Turbine Establishment, Mianyang 621000, China
4.Dalian Changfeng Industrial Corporation, Dalian 116200, China
5.Shenzhen Huashi Videoscope Co., Ltd., Shenzhen 518100, China)
Abstract: Aiming at the issue of shape control forcable-driven hyper-redundant continuum robots, a whole-body shape control method withjoint angle feedback is proposed. By integrating joint angle sensors into each segment of the robot, real-time joint angle are measured, and a closed-loop shape control system for the entire manipulator is constructed, thereby achieving accurate adjustment and control of the whole manipulator’s shape. Simultaneously, a 21-degree-of-freedom cable-driven hyper-redundant continuum robot is designed, and its kinematic model is established for validating the whole-bodyshape closed-loop control algorithm and performing inspection tasks in simulated aircraft fuel tanks. Experimental results demonstrate that the proposed whole-body shape closed-loop control method not only achieves high-precision tracking of desired joint angles but also realizes angle feedback control of the whole manipulator’s shape. Furthermore, the cable-driven hyper-redundant continuum robot can navigate flexibly within a simulated platform of aircraft fuel tank , providing a solid theoretical foundation and technical support for related applications.
Keywords: hyper-redundant continuum robot; whole-body shape control; joint angle feedback; kinematic model; aircraft fuel tank inspection
