Novel modal approach for kinematics of multisection continuum arms

Godage, Isuru S.; Guglielmino, Emanuele; Branson, David T.; Medrano-Cerda, Gustavo A.; Caldwell, Darwin G.

doi:10.1109/iros.2011.6094477

Cited by 78 publications

(66 citation statements)

References 12 publications

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“…Another challenge in developing continuum robots comes in the development of accurate and robust models for such inherently compliant structures. The kinematics of such robots have been extensively investigated [1,[18][19][20]. However, to consider the influence of actuating forces, external forces and structural deformation, dynamic information needs to be further included in the model.…”

Section: Introductionmentioning

confidence: 99%

Design of a Pneumatic Muscle Based Continuum Robot With Embedded Tendons

Kang

Guo

Chen

et al. 2017

IEEE/ASME Trans. Mechatron.

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A note on versions:The version presented here may differ from the published version or from the version of record. If you wish to cite this item you are advised to consult the publisher's version. Please see the repository url above for details on accessing the published version and note that access may require a subscription.For more information, please contact eprints@nottingham.ac.uk 1083-4435 (c) 2016 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information. This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TMECH.2016.2636199, IEEE/ASME Transactions on Mechatronics > REPLACE THIS LINE WITH YOUR PAPER IDENTIFICATION NUMBER (DOUBLE-CLICK HERE TO EDIT) < 1 Abstract -Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance that allows for dexterous and safe movements. However, the inherent compliance in such systems reduces the structural stiffness, and therefore leads to the issue of reduced positioning accuracy. This paper presents the design of a continuum robot employing tendon embedded pneumatic muscles (TEPMs). The pneumatic muscles are used to achieve large scale movements for preliminary positioning while the tendons are used for fine adjustment of position. Such hybrid actuation offers the potential to improve the accuracy of the robotic system, while maintaining large displacement capabilities. A 3-dimensional (3-D) dynamic model of the robot is presented using a mass-damper-spring based network, in which elastic deformation, actuating forces and external forces are taken into account. The design and dynamic model of the robot are then validated experimentally with the help of an electromagnetic tracking system. Index Terms -Continuum robots, Pneumatic muscles, Embedded tendons, Hybrid actuation I. INTRODUCTIONonventional robots employing rigid links connected by actuated joints have been used extensively in industry where high stiffness and fast dynamics are required. However, their motions are significantly constrained by the limited number of degrees-of-freedom (DOF) and minimal deformation at the joints and links. In recent years increasing demand for highly dexterous and human-friendly manipulation has encouraged the developments of continuum robots inspired by soft organs in nature such as the elephant trunk, octopus tentacle, etc. Such robots are constructed with soft or semi-soft materials, and therefore have a continuously deformable body and large number of DOF. This means that they are able to adapt to unstructured environments to perform tasks such as Manuscript received XX-XX-2016. This work was supported by the Natural Science Foundation of China (Grant No. 51375329, No.51605329 and No. 51611130202) Dai et al. [9] presented a continuum robot with integrated origami struc...

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Section: Introductionmentioning

confidence: 99%

Design of a Pneumatic Muscle Based Continuum Robot With Embedded Tendons

Kang

Guo

Chen

et al. 2017

IEEE/ASME Trans. Mechatron.

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“…4) Cosserat rod model [6], [16] and beam theory method, as a simplified version of that [9], which result in a boundary value problem (BVP) to be solved using numerical optimization methods [6], [17]. 5) approximate identification based series-solutions where coefficients of a simple [18] or complex [19] series are identified using experimental results to construct a hardware-specific model. 6) Numerical finite element methods using Euler-Bernoulli [20] or Galerkin weakform series-solution [21] mechanics and VC kinematics.…”

mentioning

confidence: 99%

“…The identification based models are more accurate and computationally efficient; however, their validity is limited to their experiment conditions, external loads, input values and training data set [19], [8]. Besides, they do not account for the structural characteristics necessary for dealing with unknown conditions and design optimization [9].…”

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confidence: 99%

Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz–Galerkin Methods

Sadati

Naghibi

Walker

et al. 2018

IEEE Robot. Autom. Lett.

110

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Abstract-To address the challenges with real-time accurate modeling of multi-segment continuum manipulators in presence of significant external and body loads, we introduce a novel series solution for variable-curvature Cosserat rod static and Lagrangian dynamic method. By combining a modified Lagrange polynomial series solution, based on experimental observations, with Ritz and Ritz-Galerkin methods, the infinite modeling state space of a continuum manipulator is minimized to geometrical position of a handful of physical points (in our case two). As a result, a unified easy to implement vector formalism is proposed for nonlinear impedance and configuration control. We showed that by considering the mechanical effects of axial highly elastic deformation, the model accuracy is increased by up to 6%. The proposed model predicts experimental results with 6-8% (4-6 [mm]) mean error for the Ritz-Galerkin method in static cases and 16-20% (12-14 [mm]) mean error for the Ritz method in dynamic cases, in planar and general 3D motions. Comparing to five different models in the literature, our approximate solution showed to be more accurate with the smallest possible number of modeling states and suitable for real-time modeling, observation and control applications.

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“…The continuum robot forward kinematic formulas introduced in [40] form the baseline for modeling the new robotic cable. Figure 5 shows the schematic of a single section continuum arm illustrating the tendon arrangement.…”

Section: Review Of Curve Parametric Kinematicsmentioning

confidence: 99%

A novel continuum robotic cable aimed at applications in space

et al. 2015

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We introduce a new class of long and thin continuum robots intended for use in space applications. This 'cable' robot is a next-generation version of the current state of the art (NASA's 'Tendril'). The article describes the key practical limitations of the mechanical design of 'Tendril'. We introduce the design specifics of our novel concept for a next-generation device with significantly enhanced performance. Equipped with a light and compact motor-encoder actuation mechanism, the new design has improved compliance and possesses a concentric backbone arrangement which is tendon-actuated and spring-loaded. A new forward kinematic model is developed extending the established models for constant-curvature continuum robots, to account for the new design feature of controllable compression (in the hardware). The model is validated by performing experiments with a three-section prototype of the design. The new model is found to be effective as a baseline to predict the performance of such long and thin continuum 'cable' robots.

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Novel modal approach for kinematics of multisection continuum arms

Cited by 78 publications

References 12 publications

Design of a Pneumatic Muscle Based Continuum Robot With Embedded Tendons

Design of a Pneumatic Muscle Based Continuum Robot With Embedded Tendons

Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz–Galerkin Methods

A novel continuum robotic cable aimed at applications in space

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