Shape and contact force estimation of continuum manipulators using pseudo rigid body models
Sign Up to like & getrecommendations! Published in 2019 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2019.04.008
Abstract: Abstract Accurate estimation of deformed shape and reaction forces poses a significant challenge in modeling and control of continuum manipulators interacting with their environment. This paper presents a framework for the analysis of a continuum… read more here.
Keywords: continuum manipulators; manipulator; force; estimation ... See more keywords
Workspace analysis of cable-driven continuum manipulators based on static model
Sign Up to like & getrecommendations! Published in 2018 at "Robotics and Computer-integrated Manufacturing"
DOI: 10.1016/j.rcim.2017.07.002
Abstract: Abstract Cable-driven continuum manipulators are widely used in confined space applications, e.g. minimally invasive surgery. Different from conventional rigid manipulators, their end-effectors are positioned by deforming the flexible backbone. Existing workspace analysis of cable-driven continuum… read more here.
Keywords: cable; workspace; cable driven; driven continuum ... See more keywords
Synergy-Based Analytical Design of Wire-Driven Continuum Manipulators
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3191228
Abstract: This letter discusses the design for wire-driven continuum manipulators. To achieve multiple desired postures, a novel design method that analytically determines the mechanism and control parameters of the manipulator is proposed. First, by introducing a… read more here.
Keywords: continuum manipulators; wire driven; driven continuum; design wire ... See more keywords
A Novel Friction Measuring Method and Its Application to Improve the Static Modeling Accuracy of Cable-Driven Continuum Manipulators
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2024.3363533
Abstract: Cable-driven continuum manipulators exhibit high flexibility and dexterity, leading to their increased popularity in recent years. Friction analysis is a crucial problem for these manipulators. Previous research has introduced friction models that are applicable to… read more here.
Keywords: friction measuring; cable driven; cable; friction ... See more keywords
Adaptive Algorithms for Performance Improvement of a Class of Continuum Manipulators
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Transactions on Systems, Man, and Cybernetics: Systems"
DOI: 10.1109/tsmc.2017.2678605
Abstract: This paper addresses the position control of continuum manipulators. Their performances in terms of speed limitation and position accuracy are often mediocre compared with rigid body based robots. In regards to continuum manipulators control, nonadaptive… read more here.
Keywords: adaptive algorithms; performance improvement; performance; continuum manipulators ... See more keywords
A Model-Based Method for Predicting the Shapes of Planar Single-Segment Continuum Manipulators With Consideration of Friction and External Force
Sign Up to like & getrecommendations! Published in 2020 at "Journal of Mechanisms and Robotics"
DOI: 10.1115/1.4046035
Abstract: The shape prediction of tendon-driven continuum manipulators is a challenging problem due to the effect of inner friction and external force. Many researchers use actuation displacement or actuation force as model input to predict the… read more here.
Keywords: external force; model based; friction external; force ... See more keywords
FEM-based Dynamic Modelling Framework for Flexible Continuum Manipulators
Sign Up to like & getrecommendations! Published in 2024 at "Journal of Mechanisms and Robotics"
DOI: 10.1115/1.4064669
Abstract: Flexible continuum manipulators (FCM) are gaining importance because of their manoeuvrability and pliability in confined and complex spaces, where rigid link manipulators underperform. However, the dynamic behaviour and control of the FCM are quite challenging… read more here.
Keywords: based dynamic; framework; continuum manipulators; model ... See more keywords
Analytical Inverse Kinematics for 2-Segment Extensible Continuum Manipulators
Sign Up to like & getrecommendations! Published in 2024 at "Journal of Mechanisms and Robotics"
DOI: 10.1115/1.4066098
Abstract: Fast inverse kinematics (IK) algorithm is significant for real-time precise motion control of continuum and soft manipulator. In this paper, we studied an explicit expression of two-segment continuum manipulator based on the constant curvature assumptions… read more here.
Keywords: extensible continuum; segment extensible; kinematics; continuum manipulators ... See more keywords