Name
Title | ||
|---|---|---|
Task-space position control of concentric-tube robot with inaccurate kinematics using approximate Jacobian |
Abstract | ||
|---|---|---|
Many medical applications can benefit from the new technology of concentric-tube robot (CTR) due to its miniature size, superior steerability, and controllability of the end tool. However, the kinematic modeling of CTR is challenging because of complicated physical phenomena caused by the elasticity interaction between tubes. Existing control methods of CTR are based on inverse kinematics calculation and hence the control performance largely relies on the accuracy of kinematics model used. In this work, we propose a new control method from the actuator level and show that the control design of actuator input in task-space with approximate Jacobian matrix provides more flexibility and robustness in handling inaccuracy in kinematics model. It is shown through simulation study that the proposed control method presents better performance compared with traditional inverse kinematics based control method in face of kinematics inaccuracy. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ICRA.2014.6907724 | Robotics and Automation |
Keywords | Field | DocType |
Jacobian matrices,controllability,elasticity,medical robotics,mobile robots,position control,robot kinematics,CTR,actuator input,actuator level,approximate Jacobian matrix,complicated physical phenomena,concentric-tube robot,control design,controllability,elasticity interaction,end tool,inaccurate kinematics,inverse kinematics based control method,inverse kinematics calculation,kinematic modeling,kinematics inaccuracy,medical applications,miniature size,superior steerability,task-space,task-space position control | Kinematics,Kinematics equations,Inverse kinematics,Controllability,Jacobian matrix and determinant,Control theory,Robot kinematics,Control engineering,Robustness (computer science),Mathematics,Actuator | Conference |
Volume | Issue | ISSN |
2014 | 1 | 1050-4729 |
Citations | PageRank | References |
2 | 0.42 | 16 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mohamed Nassim Boushaki | 1 | 2 | 0.76 |
| Chao Liu | 2 | 98 | 10.17 |
| Philippe Poignet | 3 | 517 | 59.75 |