Real-Time Kinematics of Continuum Robots: Modelling and Validation

Barrientos-Diez, Jorge; Dong, Xin; Axinte, Dragoş; Kell, James

doi:10.1016/j.rcim.2020.102019

Cited by 41 publications

(21 citation statements)

References 13 publications

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“…The models have different performances in terms of accuracy and computation time depending on the loading scenarios and robot design. One interesting observation is that it is not necessary for the tendon path assumption to reflect the actual TDCR design, confirming what was already proposed by Rucker and Webster, 2011a ; Norouzi-Ghazbi and Janabi-Sharifi (2020) ; Barrientos-Diez et al (2021) . Models assuming fully constrained tendons, such as the VC or CC models, can still accurately describe the shape of a TDCR with spacer disks when sufficient number disks is used.…”

Section: Discussionsupporting

confidence: 83%

“…The curve is then, instead represented by

. Similar to the approach by Godage et al in representing the curve parameters by eliminating trigonometric functions, Barrientos-Diez et al, (2021 ) linearize the expression for tendon length, given in Eq. (20) by using the first order of the Taylor series expansion.…”

Section: Kinematic Modellingmentioning

confidence: 99%

“…The accuracy of lumped parameters depends on the deformation of the robot under external forces, which in turn depends on the magnitude of these forces, the robot length, and stiffness. In cases that require a large number of parameters to obtain sufficient accuracy, lumped parameterization can become more computationally expensive than distributed parameterization ( Barrientos-Diez et al, 2021 ). Regarding the tendon path assumption, a naive strategy would be to consider partially and fully constrained tendons when they are guided using spacer disks and through a lumen in the backbone, respectively.…”

Section: Comparison Of Tdcr Models and Guidelinesmentioning

confidence: 99%

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How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance

et al. 2021

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Tendon actuation is one of the most prominent actuation principles for continuum robots. To date, a wide variety of modelling approaches has been derived to describe the deformations of tendon-driven continuum robots. Motivated by the need for a comprehensive overview of existing methodologies, this work summarizes and outlines state-of-the-art modelling approaches. In particular, the most relevant models are classified based on backbone representations and kinematic as well as static assumptions. Numerical case studies are conducted to compare the performance of representative modelling approaches from the current state-of-the-art, considering varying robot parameters and scenarios. The approaches show different performances in terms of accuracy and computation time. Guidelines for the selection of the most suitable approach for given designs of tendon-driven continuum robots and applications are deduced from these results.

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Section: Discussionsupporting

confidence: 83%

“…The curve is then, instead represented by

Section: Kinematic Modellingmentioning

confidence: 99%

Section: Comparison Of Tdcr Models and Guidelinesmentioning

confidence: 99%

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How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance

et al. 2021

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“…Moreover, the 2-DOF bending motion of the proximal segment can be driven by two motors and two circular pulleys. Based on the literature [29], the robot motion accuracy is satisfied.…”

Section: Kinematics Linear Fitting In the Proximal Segmentmentioning

confidence: 99%

“…Besides, the mapping between the actuator space and joint space of the robot is complex, which causes the driving mechanism and the control system difficult [28]. Some researchers have tried to address the drawbacks of the coupling bending motion through special joint structure design and further simplify the mapping between actuator space and joint space [29,30].…”

Section: Introductionmentioning

confidence: 99%

Design and Validation of a Novel Cable-Driven Hyper-Redundant Robot Based on Decoupled Joints

Huang

Liu

Yin

et al. 2021

Journal of Robotics

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In most of the prior designs of conventional cable-driven hyper-redundant robots, the multiple degree-of-freedom (DOF) bending motion usually has bending coupling effects. It means that the rotation output of each DOF is controlled by multiple pairs of cable inputs. The bending coupling effect will increase the complexity of the driving mechanism and the risk of slack in the driving cables. To address these problems, a novel 2-DOF decoupled joint is proposed by adjusting the axes distribution of the universal joints. Based on the decoupled joint, a 4-DOF hyper-redundant robot with two segments is developed. The kinematic model of the robot is established, and the workspace is analyzed. To simplify the driving mechanism, a kinematic fitting approach is presented for both proximal and distal segments and the mapping between the actuator space and the joint space is significantly simplified. It also leads to the simplification of the driving mechanism and the control system. Furthermore, the cable-driven hyper-redundant robot prototype with multiple decoupled joints is established. The experiments on the robot prototype verify the advantages of the design.

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Data augmentation for design of concentric tube continuum robots by generative adversarial networks

Hoffmann,

Gulakala,

Mühlenhoff

et al. 2023

Proc Appl Math and Mech

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Concentric tube continuum robots are a promising type of robot for various medical applications. Their application in neurosurgery poses challenging requirements for design and control that can be addressed by physics‐informed data‐based approaches. A prerequisite to data‐based modeling is an informative, rich data set. However, limited access to experimental data raises interest in partially or entirely synthetic data sets. In this contribution, we study the application of generative adversarial networks (GANs) for data augmentation in a data‐based design process of such robots. We propose a GAN framework suitable for curve‐fitting to generate synthetic trajectories of robots along with their corresponding control parameters. Our evaluation shows that the GANs can efficiently produce meaningful synthetic trajectories and control parameter pairs that show a good agreement with simulated trajectories.

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Real-Time Kinematics of Continuum Robots: Modelling and Validation

Cited by 41 publications

References 13 publications

How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance

How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance

Design and Validation of a Novel Cable-Driven Hyper-Redundant Robot Based on Decoupled Joints

Data augmentation for design of concentric tube continuum robots by generative adversarial networks

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