Investigation of effects of dynamics on intrinsic wrench sensing in continuum robots
Investigation of effects of dynamics on intrinsic wrench sensing in continuum robots
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DOI：
10.1109/icra.2016.7487353
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发表时间：
2016-05
期刊：
影响因子：
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通讯作者：
R. Roy;Long Wang;N. Simaan
中科院分区：
文献类型：
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作者：
R. Roy;Long Wang;N. Simaan
多骨干连续体机器人已被证明具有扳手传感能力，通过测量每个骨干上的驱动负载，然后使用精心设计的静力学模型。感知相互作用力的能力使这些机器人也能够控制它们与环境的相互作用。在过去的研究中，力传感模型受到准静态假设。本文的目标有三个方面：更新扳手传感模型，考虑到动态力，调查这些动态力对这些机器人的扳手传感能力的影响，并提出设计图集，帮助设计师确定关键尺寸，确保有限的动态效应对扳手传感。本文提出了一种简化的动力学模型，使用拉格朗日公式。此动力学模型，然后使用更新单段连续体机器人的扳手估计模型。最后，使用一组归一化参数来产生设计图谱，以帮助设计人员预测动力学对扳手估计模型的影响。这些结果将允许多骨干连续体机器人的力传感和控制的性能得到改善。采用本文中提出的方法，连续体机器人，以前已经证明了出色的远端灵活性，将能够在未来更好地控制它们与解剖结构的力的相互作用-从而提高手术的安全性和精细度。
Multi-backbone continuum robots have been demonstrated to possess wrench sensing capabilities by measuring the actuation load on each backbone and then using elaborate statics models. The ability to sense forces of interaction allows these robots to also control their interaction with the environment. In past studies, the force sensing models were subject to quasi-static assumptions. The goal of this paper is threefold: to update the wrench sensing model taking into account dynamic forces, to investigate the effect of these dynamic forces on the wrench sensing abilities of these robots and to present design atlases that help designers with the determination of critical dimensions ensuring bounded effect of dynamics on wrench sensing. The paper presents a simplified dynamics model using a Lagrangian formulation. This dynamics model is then used to update the wrench estimation model for a single-segment continuum robot. Finally, a set of normalized parameters is used to produce design atlases that help designers predict the effect of dynamics on the wrench estimation model. These results will allow improved performance in force sensing and control for multi-backbone continuum robots. Employing the methods presented in the paper, continuum robots, that have previously demonstrated excellent distal dexterity, will be able to control their force interaction with the anatomy better in future - thereby improving safety and the finesse of surgery.