Details
| Original language | English |
|---|---|
| Title of host publication | 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 |
| Place of Publication | Banff, Canada |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 601-607 |
| Number of pages | 7 |
| ISBN (electronic) | 9781509020652 |
| Publication status | Published - 26 Sept 2016 |
| Event | 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - Banff, Canada Duration: 12 Jul 2016 → 15 Jul 2016 |
Publication series
| Name | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM |
|---|---|
| Volume | 2016-September |
Abstract
To overcome restrictions of passive, flexible endoscopes in technical tasks (e. g. inspection jobs) as well as in medical interventions, such as minimally invasive surgery, a hyper-redundant active shaft concept is proposed. Due to its unique binary, electromagnetic actuation concept it features good resistance with respect to manipulation forces. Thanks to an active control of each element of the hyper-redundant shaft, different shapes (configurations) can be commanded easily. As a matter of fact, the resulting shape and end effector errors highly depend on the accuracy of the kinematic model. Furthermore, a dynamic model - including a description of the electromagnetic behavior - is required to determine necessary individual poweron durations for the capacity discharge in the tilting circuit of the electromagnetic actuators. In this paper, the dynamics and kinematics for the hyperredundant manipulator are determined. A simplified model for the tilting actuator torque is deduced from the electromagnetic behavior. Subsequently, model parameters are identified and evaluated for a prototypical manipulator based on measurements of the end effector movements.
ASJC Scopus subject areas
- Engineering(all)
- Electrical and Electronic Engineering
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Computer Science Applications
- Computer Science(all)
- Software
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2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016. Banff, Canada: Institute of Electrical and Electronics Engineers Inc., 2016. p. 601-607 7576834 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2016-September).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Kinematics and dynamics identification of a hyper-redundant, electromagnetically actuated manipulator
AU - Tappe, Svenja
AU - Dörbaum, Michael
AU - Kotlarski, Jens
AU - Ponick, Bernd
AU - Ortmaier, Tobias
N1 - Funding information: This work was supported by the German Research Foundation (Deutsche Forschungsgemeinschaft)
PY - 2016/9/26
Y1 - 2016/9/26
N2 - To overcome restrictions of passive, flexible endoscopes in technical tasks (e. g. inspection jobs) as well as in medical interventions, such as minimally invasive surgery, a hyper-redundant active shaft concept is proposed. Due to its unique binary, electromagnetic actuation concept it features good resistance with respect to manipulation forces. Thanks to an active control of each element of the hyper-redundant shaft, different shapes (configurations) can be commanded easily. As a matter of fact, the resulting shape and end effector errors highly depend on the accuracy of the kinematic model. Furthermore, a dynamic model - including a description of the electromagnetic behavior - is required to determine necessary individual poweron durations for the capacity discharge in the tilting circuit of the electromagnetic actuators. In this paper, the dynamics and kinematics for the hyperredundant manipulator are determined. A simplified model for the tilting actuator torque is deduced from the electromagnetic behavior. Subsequently, model parameters are identified and evaluated for a prototypical manipulator based on measurements of the end effector movements.
AB - To overcome restrictions of passive, flexible endoscopes in technical tasks (e. g. inspection jobs) as well as in medical interventions, such as minimally invasive surgery, a hyper-redundant active shaft concept is proposed. Due to its unique binary, electromagnetic actuation concept it features good resistance with respect to manipulation forces. Thanks to an active control of each element of the hyper-redundant shaft, different shapes (configurations) can be commanded easily. As a matter of fact, the resulting shape and end effector errors highly depend on the accuracy of the kinematic model. Furthermore, a dynamic model - including a description of the electromagnetic behavior - is required to determine necessary individual poweron durations for the capacity discharge in the tilting circuit of the electromagnetic actuators. In this paper, the dynamics and kinematics for the hyperredundant manipulator are determined. A simplified model for the tilting actuator torque is deduced from the electromagnetic behavior. Subsequently, model parameters are identified and evaluated for a prototypical manipulator based on measurements of the end effector movements.
UR - http://www.scopus.com/inward/record.url?scp=84992316861&partnerID=8YFLogxK
U2 - 10.1109/aim.2016.7576834
DO - 10.1109/aim.2016.7576834
M3 - Conference contribution
AN - SCOPUS:84992316861
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 601
EP - 607
BT - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
PB - Institute of Electrical and Electronics Engineers Inc.
CY - Banff, Canada
T2 - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Y2 - 12 July 2016 through 15 July 2016
ER -