TY - GEN
T1 - Real-time trajectory tracking for externally loaded concentric-tube robots
AU - Xu, Ran
AU - Asadian, Ali
AU - Atashzar, Seyed Farokh
AU - Patel, Rajni V.
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - Concentric-tube robots can offer a suitable compromise between force and curvature control. In a previous study by the authors, a real-time trajectory tracking scheme for an unloaded concentric-tube robot was developed. One of the practical barriers to the use of a concentric-tube robot in medical applications is compensation for the impact of environmental forces which can cause drastic deterioration in tracking performance. In this paper, by modifying the robot's forward kinematics and Jacobian, a new method is developed to facilitate tip tracking in real-time while accounting for an external load at the robot's tip. By considering the tip deflection resulting from the external load, a novel dual-layer control architecture is proposed to compensate for this deflection during trajectory tracking. In order to measure the force exerted on the tip position of the robot, a new technique is proposed that can move the sensing system from the distal tip to the proximal base. Experimental results are given to illustrate the effectiveness of the proposed method.
AB - Concentric-tube robots can offer a suitable compromise between force and curvature control. In a previous study by the authors, a real-time trajectory tracking scheme for an unloaded concentric-tube robot was developed. One of the practical barriers to the use of a concentric-tube robot in medical applications is compensation for the impact of environmental forces which can cause drastic deterioration in tracking performance. In this paper, by modifying the robot's forward kinematics and Jacobian, a new method is developed to facilitate tip tracking in real-time while accounting for an external load at the robot's tip. By considering the tip deflection resulting from the external load, a novel dual-layer control architecture is proposed to compensate for this deflection during trajectory tracking. In order to measure the force exerted on the tip position of the robot, a new technique is proposed that can move the sensing system from the distal tip to the proximal base. Experimental results are given to illustrate the effectiveness of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=84929192383&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2014.6907496
DO - 10.1109/ICRA.2014.6907496
M3 - Conference contribution
AN - SCOPUS:84929192383
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4374
EP - 4379
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -