Investigation of Error Propagation in Multi-backbone Continuum Robots
Investigation of Error Propagation in Multi-backbone Continuum Robots
复制标题
多主干连续体机器人中误差传播的研究
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
N. Simaan
中科院分区：
文献类型：
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作者：
Long Wang;N. Simaan
使用多个骨干的蛇形机器人在手术机器人中的使用越来越多。这些机器人基本上是具有受限柔性腿的并联机器人。这些机器人的平衡配置的变化是通过推/拉机器人的腿。本章提出了一个调查的影响，这些机器人的装配和原位误差的准确性。本章考虑的装配误差包括骨架曲线的扭曲和平衡形状与假定圆形的偏差。在考虑扭曲和形状偏差的同时，提出了逆运动学和正运动学的建模框架。推导出了系统的位形空间和识别雅可比矩阵，并将其用于研究装配/建模误差对位形空间和任务空间中诱导误差的影响。
Snake-like robots using multiple backbones have gained increased use in surgical robotics. These robots are essentially parallel robots with constrained flexible legs. Change in the equilibrium configuration of these robots is obtained by pushing/pulling on the robots’ legs. This chapter presents an investigation of the effects of assembly and home position errors on the accuracy of these robots. The assembly errors considered in this chapter include twisting about the backbone curve and deviation of the equilibrium shapes from assumed circular shapes. A modeling framework for the inverse and direct kinematics is presented while taking into account twisting and shape deviation. The configuration space and the identification Jacobian matrices are derived and then used to investigate the effects of the assembly/modeling errors on inducing errors in configuration and task space.