Real-time Position Control of Concentric Tube Robots.
Real-time Position Control of Concentric Tube Robots.
复制标题
DOI：
10.1109/robot.2010.5509311
复制
发表时间：
2010-05-03
期刊：
影响因子：
--
通讯作者：
Itkowitz B
中科院分区：
文献类型：
--
作者：
Dupont PE;Lock J;Itkowitz B
一种新的构建机器人的方法是基于预弯弹性管的同心组合。通过相互旋转和延伸管子，它们的曲率弹性地相互作用，以定位和定位机器人的尖端，以及控制机器人沿其长度的形状。由于这些机器人形成细长的曲线，它们非常适合微创医疗程序。它们的实际应用面临的一个重大挑战是实时求解它们的运动学，这些运动学由分裂边界方程的微分方程组描述。本文提出了一种高效的实时位置控制方法。结果表明，正运动学是光滑函数，可以用傅里叶级数进行精确逼近和预先计算。逆运动学可以使用应用于函数近似的求根来实时求解。文中还给出了用该方法进行实时位置控制的实验演示。
A novel approach to constructing robots is based on concentrically combining pre-curved elastic tubes. By rotating and extending the tubes with respect to each other, their curvatures interact elastically to position and orient the robot's tip, as well as to control the robot's shape along its length. Since these robots form slender curves, they are well suited for minimally invasive medical procedures. A substantial challenge to their practical use is the real-time solution of their kinematics that are described by differential equations with split boundary equations. This paper proposes a numerically efficient approach to real-time position control. It is shown that the forward kinematics are smooth functions that can be pre-computed and accurately approximated using Fourier series. The inverse kinematics can be solved in real time using root finding applied to the functional approximation. Experimental demonstration of real-time position control using this approach is also described.