TY - GEN
T1 - Kinematic instability in concentric-tube robots
T2 - 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
AU - Xu, Ran
AU - Atashzar, S. Farokh
AU - Patel, Rajni V.
PY - 2014/9/30
Y1 - 2014/9/30
N2 - 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.
AB - 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.
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U2 - 10.1109/biorob.2014.6913770
DO - 10.1109/biorob.2014.6913770
M3 - Conference contribution
AN - SCOPUS:84918538811
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 163
EP - 168
BT - "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
A2 - Carloni, Raffaella
A2 - Masia, Lorenzo
A2 - Sabater-Navarro, Jose Maria
A2 - Ackermann, Marko
A2 - Agrawal, Sunil
A2 - Ajoudani, Arash
A2 - Artemiadis, Panagiotis
A2 - Bianchi, Matteo
A2 - Lanari Bo, Antonio Padilha
A2 - Casadio, Maura
A2 - Cleary, Kevin
A2 - Deshpande, Ashish
A2 - Formica, Domenico
A2 - Fumagalli, Matteo
A2 - Garcia-Aracil, Nicolas
A2 - Godfrey, Sasha Blue
A2 - Khalil, Islam S.M.
A2 - Lambercy, Olivier
A2 - Loureiro, Rui C. V.
A2 - Mattos, Leonardo
A2 - Munoz, Victor
A2 - Park, Hyung-Soon
A2 - Rodriguez Cheu, Luis Eduardo
A2 - Saltaren, Roque
A2 - Siqueira, Adriano A. G.
A2 - Squeri, Valentina
A2 - Stienen, Arno H.A.
A2 - Tsagarakis, Nikolaos
A2 - Van der Kooij, Herman
A2 - Vanderborght, Bram
A2 - Vitiello, Nicola
A2 - Zariffa, Jose
A2 - Zollo, Loredana
PB - IEEE Computer Society
Y2 - 12 August 2014 through 15 August 2014
ER -