Details
| Original language | English |
|---|---|
| Pages (from-to) | 1793-1800 |
| Number of pages | 8 |
| Journal | IEEE Robotics and Automation Letters |
| Volume | 3 |
| Issue number | 3 |
| Publication status | Published - Jul 2018 |
Abstract
Dual-arm continuum robots have been considered mainly for teleoperation, where human perception and cognition permitted coordination, and collision-free motions. This letter describes theoretical investigations on automation of dual-arm robots constituted of two concentric tube continuum manipulators. An optimization algorithm is developed in order to improve triangulation ability of the robot and thus enhance the arms' collaborative operation. This a priori knowledge provides design directives in order to fulfill integration, reachability, and collaboration requirements. Further, automatic control is assigned to perform online safe collaboration tasks. Our initial exploration is validated with numerical simulations using robot designs based on the optimization algorithm output. The control algorithm - based on the relative Jacobian and Cosserat rod modeling - performs simultaneously with less than 1% of the total robot's length of accuracy for both relative end-effector distance control and trajectory tracking.
Keywords
- Dual arm manipulation, medical robots and systems, motion control
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. 3, No. 3, 07.2018, p. 1793-1800.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Toward Motion Coordination Control and Design Optimization for Dual-Arm Concentric Tube Continuum Robots
AU - Chikhaoui, Mohamed Taha
AU - Granna, Josephine
AU - Starke, Julia
AU - Burgner-Kahrs, Jessica
PY - 2018/7
Y1 - 2018/7
N2 - Dual-arm continuum robots have been considered mainly for teleoperation, where human perception and cognition permitted coordination, and collision-free motions. This letter describes theoretical investigations on automation of dual-arm robots constituted of two concentric tube continuum manipulators. An optimization algorithm is developed in order to improve triangulation ability of the robot and thus enhance the arms' collaborative operation. This a priori knowledge provides design directives in order to fulfill integration, reachability, and collaboration requirements. Further, automatic control is assigned to perform online safe collaboration tasks. Our initial exploration is validated with numerical simulations using robot designs based on the optimization algorithm output. The control algorithm - based on the relative Jacobian and Cosserat rod modeling - performs simultaneously with less than 1% of the total robot's length of accuracy for both relative end-effector distance control and trajectory tracking.
AB - Dual-arm continuum robots have been considered mainly for teleoperation, where human perception and cognition permitted coordination, and collision-free motions. This letter describes theoretical investigations on automation of dual-arm robots constituted of two concentric tube continuum manipulators. An optimization algorithm is developed in order to improve triangulation ability of the robot and thus enhance the arms' collaborative operation. This a priori knowledge provides design directives in order to fulfill integration, reachability, and collaboration requirements. Further, automatic control is assigned to perform online safe collaboration tasks. Our initial exploration is validated with numerical simulations using robot designs based on the optimization algorithm output. The control algorithm - based on the relative Jacobian and Cosserat rod modeling - performs simultaneously with less than 1% of the total robot's length of accuracy for both relative end-effector distance control and trajectory tracking.
KW - Dual arm manipulation
KW - medical robots and systems
KW - motion control
UR - http://www.scopus.com/inward/record.url?scp=85053936920&partnerID=8YFLogxK
U2 - 10.1109/LRA.2018.2800037
DO - 10.1109/LRA.2018.2800037
M3 - Article
AN - SCOPUS:85053936920
VL - 3
SP - 1793
EP - 1800
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
SN - 2377-3766
IS - 3
ER -