Profile estimation of a cable-driven continuum robot with general cable routing

Ashwin, KP and Ghosal, A (2019) Profile estimation of a cable-driven continuum robot with general cable routing. In: IFToMM World Congress on Mechanism and Machine Science, 14 June 2019, pp. 1879-1888.

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Abstract

Cable-driven continuum robots find applications in bio-inspired robotics and medical robotics. Kinematics of cable-driven continuum robots, also called elephant-trunk robots, with straight cable routing is well studied in the literature. However, there are very few studies on the kinematics of continuum robots with general cable routing, despite its certain advantages. In this paper, an optimization based strategy is proposed to estimate the forward kinematics of a continuum robot with arbitrary and general cable routing. For a given displacement of the cables and cable routing, the pose of a continuum robot is obtained. Using experiments conducted on a cable driven robot, it is demonstrated that the optimization based model provides a good estimate of the forward kinematics with maximum error less than 5 of maximum tip deflection. The developed model is particularly useful since it may be possible to synthesize robots that can be deformed to desired shapes using the same theoretical framework.

Item Type:	Conference Paper
Publication:	Mechanisms and Machine Science
Publisher:	Springer Science and Business Media B.V.
Additional Information:	The copyright for this article belongs to Springer Science and Business Media B.V.
Keywords:	Biomimetics; Cables; Kinematics; Robotics; Robots, Bio-inspired robotics; Cable driven robots; Flexible robots; Forward kinematics; General routing; Kinematics of continuum robots; Profile estimation; Theoretical framework, Medical robotics
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	04 Dec 2022 05:09
Last Modified:	04 Dec 2022 05:09
URI:	https://eprints.iisc.ac.in/id/eprint/77937

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