Modeling and dynamic control of a class of hybrid continuum-rigid arms: Shape tracking and interaction with the environment. – HyCRA

The combination of a rigid arm and a continuum arm in a unified robot can offer both properties: that of a continuum arm with great manoeuvrability and that of a rigid arm with load capacity and precision, which makes it more adaptable to different environments and needs such as: industry, construction, health, military, etc. Indeed, this hybridisation offers a system with more flexibility, dexterity, versatility and safety in interacting with the environment, but also in collaborating with humans, than a rigid robot. In recent years, several researchers have been interested in the modelling and control of these types of robots. Indeed, the reliability of a hybrid continuum-rigid arm in interaction with the environment lies not only in the dynamic modelling of a hyper-redundant and heterogeneous system but also in the type of control. Several scientific issues related to these types of robots on dynamic control with interaction remain to be explored. The objective of the project is to model and control in real time the dynamics of a class of interacting hyper-redundant hybrid arms, taking into account the mechanical properties of the flexible material (memory effect, creep, elasticity, etc.). A dynamic model based on a hybrid approach (qualitative, quantitative) will be studied. A predictive control in force and posture will be carried out in order to anticipate the deformation of the workspace of the continuum part and to use the performances of the rigid part to correct the absolute position of the arm tip.