Abstract: In order to improve the positioning accuracy of the cable-driven continuum robots, an error calibration and compensation method was proposed for the cable-driven continuum robot modules(CDCRMs). The product-of-exponential(POE) formula was employed to develop the kinematics model for the CDCRMs. The kinematics error transfer model was derived through the kinematics model, which was used to identify the kinematics errors by using the least-squared algorithm. Identified errors were used to compensate the kinematics model, thus the accuracy of the CDCRMs was improved. A prototype of a CDCRM with a flexible backbone was made to verify the calibration algorithm by simulation and experiments. The results show that the position accuracy of the CDCRMs is improved by 32.23% and the orientation accuracy is improved by 81.64%, which prove the effectiveness of the calibration algorithm.

Key words: cable-driven, continuum robot, kinematics calibration, error model, kinematics modeling

摘要： 为提高绳驱动连续体机器人的定位精度，提出了一种针对此类机器人的误差标定与补偿方法。该方法利用指数积(POE)公式建立连续体机器人关节模块的运动学模型，并利用运动学模型推导出误差传递模型。针对误差模型采用最小二乘方法进行误差的辨识，将辨识后的误差补偿至机器人的运动学模型，从而提高机器人关节模块的模型精度。制作了基于柔性支撑的绳驱动连续体机器人样机，并对标定算法进行了仿真和实验验证，实验结果显示机器人末端位置精度提高了32.23%，姿态精度提高了81.64%，证明了标定算法的有效性。

关键词: 绳驱动, 连续体机器人, 运动学标定, 误差模型, 运动学建模