Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2020

Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation

Abstract

This paper introduces a 2-DOF spatial remote center of motion (RCM) tensegrity mechanism, based on a double parallelogram system, dedicated for percutaneous needle insertion. The originality of this mechanism is its ability to be reconfigured and its capacity to perform a decoupled modulation of its stiffness in an asynchronous way. To do so, an analytical stiffness model of the robot is established, and a control methodology is proposed. A prototype of the robot is developed and assessed experimentally. The position tracking is evaluated using a 6-DOF magnetic tracker sensor showing a root mean square error less than 0.8 • in both directions of the needle guide.
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Dates and versions

lirmm-03140522 , version 1 (12-02-2021)

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Jurado Realpe, Guillaume Aiche, Salih Abdelaziz, Philippe Poignet. Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation. ICRA 2020 - 37th IEEE International Conference on Robotics and Automation, May 2020, Paris (Virtual), France. pp.3882-3888, ⟨10.1109/ICRA40945.2020.9197507⟩. ⟨lirmm-03140522⟩
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