Details
| Original language | English |
|---|---|
| Article number | 8616850 |
| Pages (from-to) | 989-996 |
| Number of pages | 8 |
| Journal | IEEE Robotics and Automation Letters |
| Volume | 4 |
| Issue number | 2 |
| Publication status | Published - Apr 2019 |
Abstract
Continuum robots actuated by tendons are a widely researched robot design offering high dexterity and large workspaces relative to their volume. Their flexible and compliant structure can be easily miniaturized, making them predestined for applications in difficult-to-reach and confined spaces. Adaption of this specific robot design includes extensible segments leading to an even higher manipulability and enabling so-called follow-the-leader motions of the manipulator. In this letter, kinematic modeling for a tendon actuated continuum robot with three extensible segments is investigated. The focus is drawn on the comparison of two of the most widely used modeling approaches both for free-space and loaded configurations. Through extensive experimental validation, the modeling performances are assessed qualitatively and quantitatively in terms of the shape deviation, Euclidean error at segment ends, and computation time. While Cosserat rod modeling is slightly more accurate than beam mechanics modeling, the latter presents significantly lower computation time.
Keywords
- flexible robots, Kinematics, tendon/wire mechanism
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Biomedical Engineering
- Computer Science(all)
- Human-Computer Interaction
- Engineering(all)
- Mechanical Engineering
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Computer Science(all)
- Computer Science Applications
- Mathematics(all)
- Control and Optimization
- Computer Science(all)
- Artificial Intelligence
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In: IEEE Robotics and Automation Letters, Vol. 4, No. 2, 8616850, 04.2019, p. 989-996.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot with Three Extensible Segments
AU - Chikhaoui, Mohamed Taha
AU - Lilge, Sven
AU - Kleinschmidt, Simon
AU - Burgner-Kahrs, Jessica
PY - 2019/4
Y1 - 2019/4
N2 - Continuum robots actuated by tendons are a widely researched robot design offering high dexterity and large workspaces relative to their volume. Their flexible and compliant structure can be easily miniaturized, making them predestined for applications in difficult-to-reach and confined spaces. Adaption of this specific robot design includes extensible segments leading to an even higher manipulability and enabling so-called follow-the-leader motions of the manipulator. In this letter, kinematic modeling for a tendon actuated continuum robot with three extensible segments is investigated. The focus is drawn on the comparison of two of the most widely used modeling approaches both for free-space and loaded configurations. Through extensive experimental validation, the modeling performances are assessed qualitatively and quantitatively in terms of the shape deviation, Euclidean error at segment ends, and computation time. While Cosserat rod modeling is slightly more accurate than beam mechanics modeling, the latter presents significantly lower computation time.
AB - Continuum robots actuated by tendons are a widely researched robot design offering high dexterity and large workspaces relative to their volume. Their flexible and compliant structure can be easily miniaturized, making them predestined for applications in difficult-to-reach and confined spaces. Adaption of this specific robot design includes extensible segments leading to an even higher manipulability and enabling so-called follow-the-leader motions of the manipulator. In this letter, kinematic modeling for a tendon actuated continuum robot with three extensible segments is investigated. The focus is drawn on the comparison of two of the most widely used modeling approaches both for free-space and loaded configurations. Through extensive experimental validation, the modeling performances are assessed qualitatively and quantitatively in terms of the shape deviation, Euclidean error at segment ends, and computation time. While Cosserat rod modeling is slightly more accurate than beam mechanics modeling, the latter presents significantly lower computation time.
KW - flexible robots
KW - Kinematics
KW - tendon/wire mechanism
UR - http://www.scopus.com/inward/record.url?scp=85063312161&partnerID=8YFLogxK
U2 - 10.1109/LRA.2019.2893610
DO - 10.1109/LRA.2019.2893610
M3 - Article
AN - SCOPUS:85063312161
VL - 4
SP - 989
EP - 996
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
SN - 2377-3766
IS - 2
M1 - 8616850
ER -