Task-Space Position Control of Concentric-Tube Robot with Inaccurate Kinematics Using Approximate Jacobian

Mohamed Boushaki 1 Chao Liu 1 Philippe Poignet 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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.
Type de document :
Communication dans un congrès
ICRA: International Conference on Robotics and Automation, May 2014, Hong Kong, China. Robotics and Automation (ICRA), 2014 IEEE International Conference on, pp.5877-5882, 2014, 〈10.1109/ICRA.2014.6907724〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01275481
Contributeur : Chao Liu <>
Soumis le : mercredi 17 février 2016 - 15:04:19
Dernière modification le : jeudi 11 janvier 2018 - 06:26:07

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Mohamed Boushaki, Chao Liu, Philippe Poignet. Task-Space Position Control of Concentric-Tube Robot with Inaccurate Kinematics Using Approximate Jacobian. ICRA: International Conference on Robotics and Automation, May 2014, Hong Kong, China. Robotics and Automation (ICRA), 2014 IEEE International Conference on, pp.5877-5882, 2014, 〈10.1109/ICRA.2014.6907724〉. 〈lirmm-01275481〉

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