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Article Dans Une Revue IEEE Robotics and Automation Letters Année : 2021

A Sliding-Rod Variable-Strain Model for Concentric Tube Robots

Résumé

In this work, the Piecewise Variable-strain (PVS) approach is applied to the case of Concentric Tube Robots (CTRs) and extended to include the tubes' sliding motion. In particular, the currently accepted continuous Cosserat rod model is discretized onto a finite set of strain basis functions. At the same time, the insertion and rotation motions of the tubes are included as generalized coordinates instead of boundary kinematic conditions. Doing so, we obtain a minimum set of closed-form algebraic equations that can be solved not only for the shape variables but also for the actuation forces and torques for the first time. This new approach opens the way to torquecontrolled CTRs, which is poised to enhance elastic stability and improve interaction forces' control at the end-effector.
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Dates et versions

hal-03686716 , version 1 (02-06-2022)

Identifiants

Citer

Federico Renda, Conor Messer, Caleb Rucker, Frédéric Boyer. A Sliding-Rod Variable-Strain Model for Concentric Tube Robots. IEEE Robotics and Automation Letters, 2021, 6 (2), pp.3451-3458. ⟨10.1109/LRA.2021.3063704⟩. ⟨hal-03686716⟩
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