TY - JOUR
T1 - Modeling and estimation of friction, extension, and coupling effects in multisegment continuum robots
AU - Roy, Rajarshi
AU - Wang, Long
AU - Simaan, Nabil
N1 - Publisher Copyright:
© 1996-2012 IEEE.
PY - 2017/4
Y1 - 2017/4
N2 - The prevalence of wire-actuated mechanisms and continuum robots (CRs) for surgical applications stems from several advantages due to the remote location of actuators from the end-effectors (e.g., improved down scalability and sterilization). These advantages, however, come at the expense of inherent uncertainties due to backlash effects, compliance, and friction in the actuation lines, which in turn, limit their precision. In addition, multisegment CRs suffer from actuation coupling, diminishing the accuracy of their kinematic model. This paper aims to address these two gaps by presenting a model-based estimation and actuation compensation framework enabling the online estimation of modeling uncertainties and friction, despite possible temporal changes in these parameters and cross coupling between segments. A capstan friction model accounting for friction-induced actuation line extensions in both fixed and variable geometry conduits is presented. A modified statics model for multisegment robots is presented to account for cross-coupling effects between subsequent CR segments. A sequential estimation approach using the robot inverse kinematics, statics, and measurements of actuated joint positions and forces is then presented. These approaches are then validated experimentally on a two-segment single port access surgery CR.
AB - The prevalence of wire-actuated mechanisms and continuum robots (CRs) for surgical applications stems from several advantages due to the remote location of actuators from the end-effectors (e.g., improved down scalability and sterilization). These advantages, however, come at the expense of inherent uncertainties due to backlash effects, compliance, and friction in the actuation lines, which in turn, limit their precision. In addition, multisegment CRs suffer from actuation coupling, diminishing the accuracy of their kinematic model. This paper aims to address these two gaps by presenting a model-based estimation and actuation compensation framework enabling the online estimation of modeling uncertainties and friction, despite possible temporal changes in these parameters and cross coupling between segments. A capstan friction model accounting for friction-induced actuation line extensions in both fixed and variable geometry conduits is presented. A modified statics model for multisegment robots is presented to account for cross-coupling effects between subsequent CR segments. A sequential estimation approach using the robot inverse kinematics, statics, and measurements of actuated joint positions and forces is then presented. These approaches are then validated experimentally on a two-segment single port access surgery CR.
KW - Actuation compensation
KW - continuum robot
KW - extension modeling
KW - friction estimation
KW - surgical robot
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U2 - 10.1109/TMECH.2016.2643640
DO - 10.1109/TMECH.2016.2643640
M3 - Article
AN - SCOPUS:85018487060
SN - 1083-4435
VL - 22
SP - 909
EP - 920
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 2
M1 - 7795260
ER -