Configuration Tracking for Continuum Manipulators With Coupled Tendon Drive
Configuration Tracking for Continuum Manipulators With Coupled Tendon Drive
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DOI：
10.1109/tro.2009.2022426
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发表时间：
2009-08-01
影响因子：
7.8
通讯作者：
Salisbury, J. Kenneth
中科院分区：
文献类型：
--
作者：
Camarillo, David B.;Carlson, Christopher R.;Salisbury, J. Kenneth
柔性设备的机器人控制可以增强和简化许多医疗程序。我们提出了一种通过指定形状配置来控制腱驱动连续体操纵器的方法。控制的基础是线性梁配置模型，该模型通过对柔顺系统的内部载荷进行建模，将梁配置转换为腱位移。该模型的一个重要方面是在串行铰接部分之间包含机械和几何耦合。该模型的重要功能是通用正向运动学和解耦反向运动学，允许独立控制多个部分。提供了具有两个铰接部分的心导管的跟踪结果。
Robotic control of flexible devices can enhance and simplify many medical procedures. We present a method for controlling a tendon-driven continuum manipulator by means of specifying the shape configuration. The basis for control is a linear beam configuration model that transforms beam configuration to tendon displacement by modeling internal loads of the compliant system. An essential aspect of this model is the inclusion of both the mechanical and geometrical coupling among serial articulating sections. Important capabilities of this model are the general forward kinematics and the decoupled inverse kinematics that allow for independent control of multiple sections. Tracking results are presented for a cardiac catheter with two articulating sections.