 |
HAL-LIRMM - Open Archive |  |
Conference papers
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.
https://hal-lirmm.ccsd.cnrs.fr/lirmm-03140522
Contributor : Salih Abdelaziz <>
Submitted on : Friday, February 12, 2021 - 10:44:47 PM
Last modification on : Monday, March 29, 2021 - 2:46:34 PM
Long-term archiving on: : Friday, May 14, 2021 - 9:34:33 AM
Contributor : Salih Abdelaziz <>
Submitted on : Friday, February 12, 2021 - 10:44:47 PM
Last modification on : Monday, March 29, 2021 - 2:46:34 PM
Long-term archiving on: : Friday, May 14, 2021 - 9:34:33 AM
File
ICRA20_final_version.pdf
Files produced by the author(s)