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Model-based trajectory tracking of a compliant continuum robot.

Solomon Pekris1, Robert D Williams1, Thibaud Atkins1

  • 1Department of Mechanical Engineering, University of Bath, Bath, United Kingdom.

Frontiers in Robotics and AI
|May 1, 2024
PubMed
Summary

This study presents a novel feedforward control for tendon-driven continuum robots, achieving 9.5% trajectory tracking accuracy. This enhances precision for minimally invasive surgery applications.

Keywords:
compliant robotcontinuum robotrobot controlrobot modelingtrajectory tracking

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Area of Science:

  • Robotics
  • Medical Engineering
  • Control Systems

Background:

  • Continuum robots are crucial for minimally invasive surgery, offering autonomous navigation and reduced collision risk.
  • Effective control strategies are needed to enhance the operational precision of these compliant mechanisms.

Purpose of the Study:

  • To develop and validate a novel feedforward control methodology for tendon-driven continuum robots.
  • To improve trajectory tracking accuracy and repeatability for enhanced surgical applications.

Main Methods:

  • Utilized Cosserat rod theory for a mathematical model of robot behavior.
  • Implemented implicit time discretization to simplify governing equations for real-time efficiency.
  • Designed a control strategy for 2D trajectory tracking of the robot tip.

Main Results:

  • Experimental validation on six trajectories demonstrated the control method's efficacy.
  • Achieved trajectory tracking accuracy within 9.5% using a motion capture system.
  • Showcased consistent repeatability across multiple experimental runs.

Conclusions:

  • The proposed control method represents a significant advancement in precise control for compliant continuum robots.
  • Demonstrated accuracy and repeatability enhance the potential of these robots in minimally invasive surgery.
  • This research paves the way for further development and application in surgical robotics.