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Stiffness Control of a Continuum Manipulator in Contact with a Soft Environment
Mohsen Mahvash1, Pierre E Dupont
1Harvard Medical School, Boston, MA mahvash@bu.edu.
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems
|March 15, 2011
Summary
This study presents an efficient method for controlling continuum robot stiffness, crucial for safe navigation in confined spaces. The approach ensures precise tip stiffness for various tasks, enhancing robot performance and safety.
Area of Science:
- Robotics
- Control Systems
- Mechanical Engineering
Background:
- Continuum robots require stiffness control for safe operation in delicate and confined environments.
- Variable stiffness is essential for adapting to diverse task requirements.
Purpose of the Study:
- To introduce a computationally efficient approach for continuum robot stiffness control.
- To enable precise control of tip stiffness for enhanced task adaptability.
Main Methods:
- Formulating the forward kinematic model as a product of two transformations.
- Utilizing non-contact kinematics and the Cosserat rod model for tip deflection.
- Solving for actuator positions to achieve desired tip stiffness and force at the measured position.
Main Results:
- Demonstrated a computationally efficient method for stiffness control.
- Successfully implemented stiffness control on a concentric-tube continuum robot.
- Validated the controller's efficacy through experimental results.
Conclusions:
- The proposed stiffness control method is effective for continuum robots.
- This approach enhances safety and adaptability in complex environments.
- Enables precise manipulation in delicate and confined spaces.
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