Details
| Original language | English |
|---|---|
| Article number | 8861354 |
| Pages (from-to) | 103-110 |
| Number of pages | 8 |
| Journal | IEEE Robotics and Automation Letters |
| Volume | 5 |
| Issue number | 1 |
| Publication status | Published - 7 Oct 2019 |
Abstract
Joint level calibration is an integral part of robotics as it directly influences the achievable accuracy. As opposed to serial robotic arms, continuum robots are not composed of any rigid links or joints, but of elastic materials that undergo bending and torsion. The jointless composition requires dedicated calibration procedures. In this letter, we introduce an automatic method for aligning precurved elastic tubes for joint level calibration of concentric tube continuum robots. The robot tip is equipped with a sensor in order to track its position during calibration such that subsequent data processing can extract the rotational zero position automatically. While we present a general framework independent of the utilized sensor technology, we evaluate our approach using three different sensing methodologies, i.e. magnetic, inductive, and electromagnetic. Furthermore, we advise on properties for appropriate sensors. Our experimental results show, that the rotational home position can be found reproducibly with a minimal dispersion of 0.011$^\circ$.
Keywords
- Calibration and Identification, Flexible Robots
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Biomedical Engineering
- Computer Science(all)
- Human-Computer Interaction
- Engineering(all)
- Mechanical Engineering
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Computer Science(all)
- Computer Science Applications
- Mathematics(all)
- Control and Optimization
- Computer Science(all)
- Artificial Intelligence
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In: IEEE Robotics and Automation Letters, Vol. 5, No. 1, 8861354, 07.10.2019, p. 103-110.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes
AU - Modes, Vincent
AU - Burgner-Kahrs, Jessica
N1 - Funding Information: The authors would like to thank A. Waiz for his help with experiments and sensor selection as well as E. Popp for his assistance in performing the sensitivity analysis.
PY - 2019/10/7
Y1 - 2019/10/7
N2 - Joint level calibration is an integral part of robotics as it directly influences the achievable accuracy. As opposed to serial robotic arms, continuum robots are not composed of any rigid links or joints, but of elastic materials that undergo bending and torsion. The jointless composition requires dedicated calibration procedures. In this letter, we introduce an automatic method for aligning precurved elastic tubes for joint level calibration of concentric tube continuum robots. The robot tip is equipped with a sensor in order to track its position during calibration such that subsequent data processing can extract the rotational zero position automatically. While we present a general framework independent of the utilized sensor technology, we evaluate our approach using three different sensing methodologies, i.e. magnetic, inductive, and electromagnetic. Furthermore, we advise on properties for appropriate sensors. Our experimental results show, that the rotational home position can be found reproducibly with a minimal dispersion of 0.011$^\circ$.
AB - Joint level calibration is an integral part of robotics as it directly influences the achievable accuracy. As opposed to serial robotic arms, continuum robots are not composed of any rigid links or joints, but of elastic materials that undergo bending and torsion. The jointless composition requires dedicated calibration procedures. In this letter, we introduce an automatic method for aligning precurved elastic tubes for joint level calibration of concentric tube continuum robots. The robot tip is equipped with a sensor in order to track its position during calibration such that subsequent data processing can extract the rotational zero position automatically. While we present a general framework independent of the utilized sensor technology, we evaluate our approach using three different sensing methodologies, i.e. magnetic, inductive, and electromagnetic. Furthermore, we advise on properties for appropriate sensors. Our experimental results show, that the rotational home position can be found reproducibly with a minimal dispersion of 0.011$^\circ$.
KW - Calibration and Identification
KW - Flexible Robots
UR - http://www.scopus.com/inward/record.url?scp=85073144468&partnerID=8YFLogxK
U2 - 10.15488/10388
DO - 10.15488/10388
M3 - Article
VL - 5
SP - 103
EP - 110
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 1
M1 - 8861354
ER -