Closed-Form Differential Kinematics for Concentric-Tube Continuum Robots with Application to Visual Servoing

被引：0
|
作者：
Webster, R. J., III [1 ]
Swensen, J. P. [3 ]
Romano, J. M. [2 ]
Cowan, N. J. [3 ]
机构：
[1] Vanderbilt Univ, 221 Kirkland Hall, Nashville, TN 37235 USA
[2] Univ Penn, Philadelphia, PA 19104 USA
[3] Johns Hopkins Univ, Baltimore, MD 21218 USA
来源：
EXPERIMENTAL ROBOTICS | 2009年 / 54卷
基金：
美国国家科学基金会;
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Active cannulas, so named because of their potential medical are a new class of continuum robots consisting of precurved, telescoping, clastic tubes. As individual component tubes are actuated at the base relative to one another, an active cannula changes shape to minimize stored elastic energy. Here, we derive the differential kinematics of a general n-tube active cannula while accounting for torsional compliance. We experimentally validate the Jacobian using a three-link prototype in a simple stereo visual servoing scheme.
引用
收藏
页码：485 / +
页数：2
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