Kinematic instability in concentric-tube robots: Modeling and analysis

Ran Xu, S. Farokh Atashzar, Rajni V. Patel

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper the issue of kinematic instability for concentric tube robots is studied when the following two conditions are considered: (a) the robot consists of more than two concentric tubes, and (b) the tubes consist of straight sections followed by curved sections. In this paper, we use the term "kinematic instability" when the tip position of robot in the Cartesian domain jumps from one equilibrium point to another while having a constant joint space configuration. This implies that in unstable configurations, the "forward kinematics" of the robot will have multiple solutions for one set of joint space variables. In this paper a novel framework is proposed that can calculate the stability condition for the robots consisting of multiple tubes with straight sections without solving the nonlinear ordinary differential equations. The resulting conditions restrict the pre-curvatures and length of the tubes, as a design factor, to guarantee kinematic stability within the whole workspace of the robot.

Original languageEnglish (US)
Title of host publication"2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
EditorsRaffaella Carloni, Lorenzo Masia, Jose Maria Sabater-Navarro, Marko Ackermann, Sunil Agrawal, Arash Ajoudani, Panagiotis Artemiadis, Matteo Bianchi, Antonio Padilha Lanari Bo, Maura Casadio, Kevin Cleary, Ashish Deshpande, Domenico Formica, Matteo Fumagalli, Nicolas Garcia-Aracil, Sasha Blue Godfrey, Islam S.M. Khalil, Olivier Lambercy, Rui C. V. Loureiro, Leonardo Mattos, Victor Munoz, Hyung-Soon Park, Luis Eduardo Rodriguez Cheu, Roque Saltaren, Adriano A. G. Siqueira, Valentina Squeri, Arno H.A. Stienen, Nikolaos Tsagarakis, Herman Van der Kooij, Bram Vanderborght, Nicola Vitiello, Jose Zariffa, Loredana Zollo
PublisherIEEE Computer Society
Pages163-168
Number of pages6
ISBN (Electronic)9781479931262
DOIs
StatePublished - Sep 30 2014
Event5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 - Sao Paulo, Brazil
Duration: Aug 12 2014Aug 15 2014

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)2155-1774

Conference

Conference5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
CountryBrazil
CitySao Paulo
Period8/12/148/15/14

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

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  • Cite this

    Xu, R., Atashzar, S. F., & Patel, R. V. (2014). Kinematic instability in concentric-tube robots: Modeling and analysis. In R. Carloni, L. Masia, J. M. Sabater-Navarro, M. Ackermann, S. Agrawal, A. Ajoudani, P. Artemiadis, M. Bianchi, A. P. Lanari Bo, M. Casadio, K. Cleary, A. Deshpande, D. Formica, M. Fumagalli, N. Garcia-Aracil, S. B. Godfrey, I. S. M. Khalil, O. Lambercy, R. C. V. Loureiro, L. Mattos, V. Munoz, H-S. Park, L. E. Rodriguez Cheu, R. Saltaren, A. A. G. Siqueira, V. Squeri, A. H. A. Stienen, N. Tsagarakis, H. Van der Kooij, B. Vanderborght, N. Vitiello, J. Zariffa, ... L. Zollo (Eds.), "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 (pp. 163-168). [6913770] (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). IEEE Computer Society. https://doi.org/10.1109/biorob.2014.6913770