Stiffness Control of Surgical Continuum Manipulators
Identifieur interne : 002972 ( Main/Merge ); précédent : 002971; suivant : 002973Stiffness Control of Surgical Continuum Manipulators
Auteurs : Mohsen Mahvash ; Pierre E. DupontSource :
- IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society [ 1552-3098 ] ; 2011.
Abstract
This paper introduces the first stiffness controller for continuum robots. The control law is based on an accurate approximation of a continuum robot’s coupled kinematic and static force model. To implement a desired tip stiffness, the controller drives the actuators to positions corresponding to a deflected robot configuration that produces the required tip force for the measured tip position. This approach provides several important advantages. First, it enables the use of robot deflection sensing as a means to both sense and control tip forces. Second, it enables stiffness control to be implemented by modification of existing continuum robot position controllers. The proposed controller is demonstrated experimentally in the context of a concentric tube robot. Results show that the stiffness controller achieves the desired stiffness in steady state, provides good dynamic performance, and exhibits stability during contact transitions.
Url:
DOI: 10.1109/TRO.2011.2105410
PubMed: 24273466
PubMed Central: 3837630
Links toward previous steps (curation, corpus...)
- to stream Pmc, to step Corpus: 001819
- to stream Pmc, to step Curation: 001819
- to stream Pmc, to step Checkpoint: 001971
- to stream Ncbi, to step Merge: 002B10
- to stream Ncbi, to step Curation: 002B10
- to stream Ncbi, to step Checkpoint: 002B10
Links to Exploration step
PMC:3837630Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Stiffness Control of Surgical Continuum Manipulators</title>
<author><name sortKey="Mahvash, Mohsen" sort="Mahvash, Mohsen" uniqKey="Mahvash M" first="Mohsen" last="Mahvash">Mohsen Mahvash</name>
</author>
<author><name sortKey="Dupont, Pierre E" sort="Dupont, Pierre E" uniqKey="Dupont P" first="Pierre E." last="Dupont">Pierre E. Dupont</name>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">PMC</idno>
<idno type="pmid">24273466</idno>
<idno type="pmc">3837630</idno>
<idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3837630</idno>
<idno type="RBID">PMC:3837630</idno>
<idno type="doi">10.1109/TRO.2011.2105410</idno>
<date when="2011">2011</date>
<idno type="wicri:Area/Pmc/Corpus">001819</idno>
<idno type="wicri:Area/Pmc/Curation">001819</idno>
<idno type="wicri:Area/Pmc/Checkpoint">001971</idno>
<idno type="wicri:Area/Ncbi/Merge">002B10</idno>
<idno type="wicri:Area/Ncbi/Curation">002B10</idno>
<idno type="wicri:Area/Ncbi/Checkpoint">002B10</idno>
<idno type="wicri:doubleKey">1552-3098:2011:Mahvash M:stiffness:control:of</idno>
<idno type="wicri:Area/Main/Merge">002972</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Stiffness Control of Surgical Continuum Manipulators</title>
<author><name sortKey="Mahvash, Mohsen" sort="Mahvash, Mohsen" uniqKey="Mahvash M" first="Mohsen" last="Mahvash">Mohsen Mahvash</name>
</author>
<author><name sortKey="Dupont, Pierre E" sort="Dupont, Pierre E" uniqKey="Dupont P" first="Pierre E." last="Dupont">Pierre E. Dupont</name>
</author>
</analytic>
<series><title level="j">IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society</title>
<idno type="ISSN">1552-3098</idno>
<idno type="eISSN">1941-0468</idno>
<imprint><date when="2011">2011</date>
</imprint>
</series>
</biblStruct>
</sourceDesc>
</fileDesc>
<profileDesc><textClass></textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en"><p id="P1">This paper introduces the first stiffness controller for continuum robots. The control law is based on an accurate approximation of a continuum robot’s coupled kinematic and static force model. To implement a desired tip stiffness, the controller drives the actuators to positions corresponding to a deflected robot configuration that produces the required tip force for the measured tip position. This approach provides several important advantages. First, it enables the use of robot deflection sensing as a means to both sense and control tip forces. Second, it enables stiffness control to be implemented by modification of existing continuum robot position controllers. The proposed controller is demonstrated experimentally in the context of a concentric tube robot. Results show that the stiffness controller achieves the desired stiffness in steady state, provides good dynamic performance, and exhibits stability during contact transitions.</p>
</div>
</front>
</TEI>
</record>
Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Merge
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 002972 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Merge/biblio.hfd -nk 002972 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien |wiki= Ticri/CIDE |area= HapticV1 |flux= Main |étape= Merge |type= RBID |clé= PMC:3837630 |texte= Stiffness Control of Surgical Continuum Manipulators }}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/Main/Merge/RBID.i -Sk "pubmed:24273466" \ | HfdSelect -Kh $EXPLOR_AREA/Data/Main/Merge/biblio.hfd \ | NlmPubMed2Wicri -a HapticV1
![]() | This area was generated with Dilib version V0.6.23. | ![]() |