Mechanics modeling of tendon-driven continuum manipulators

IEEE Transactions on Robotics

Volumn 24, Issue 6, 2008, Pages 1262-1273

  Camarillo, David B ^a   Milne, Christopher F ^b   Carlson, Christopher R ^b   Zinn, Michael R ^c   Salisbury, J Kenneth ^a  

^a STANFORD UNIVERSITY   (United States)

^b Hansen Medical Inc   (United States)

^c University of Wisconsin Madison   (United States)

Author keywords

Cable drive; Elastic manipulator; Flexible manipulator; Kinematics; Redundant tendons; Robotic surgery; Slack tendon; Snake robot; Statics; Tendon drive

Indexed keywords

ACTUATORS; CABLES; FLEXIBLE MANIPULATORS; KINEMATICS; LINEAR SYSTEMS; MANIPULATORS; MATHEMATICAL MODELS; MECHANICS; MOTION CONTROL; ROBOTICS; ROBOTS; STRAIN; SURGERY;

ELASTIC MANIPULATOR; REDUNDANT TENDONS; ROBOTIC SURGERY; SLACK TENDON; SNAKE ROBOT; STATICS; TENDON DRIVE;

TENDONS;

EID: 58249136398     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2008.2002311     Document Type: Article

References (29)

1. P. Dario, B. Hannaford, and A. Menciassi, "Smart surgical tools and augmenting devices," IEEE Trans. Robot. Autom., vol. 19, no. 5, pp. 782-792, Oct. 2003.
2. R. Taylor, "Robots as surgical assistants: Where we are, wither we are tending, and how to get there," in Proc. AIME, 1997, pp. 3-11.
3. G. Ballantyne and F. Moll, "The da vinci telerobotic surgical system: The virtual operative field and telepresence surgery," Surg. Clin. North Amer., vol. 83, no. 6, pp. 1293-1304, 2003.
4. R. Satava, "Emerging technologies for surgery in the 21st century," Archives Surg., vol. 134, no. 11, pp. 1197-1202, 1999.
5. D. Camarillo, T. Krummel, and J. Salisbury, "Robotic technology in surgery: Past, present, and future," Amer. J. Surg., vol. 188, no. 4A, pp. 2S-15S, 2004.
6. G. Robinson and J. Davies, "Continuum robots - A state of the art," in Proc. IEEE ICRA, vol. 4, Detroit, MI, 1999, pp. 2849-2854.
7. J. Bacher, C. Joseph, and R. Clavel, "Flexures for high precision robotics," Ind. Robot., vol. 29, no. 4, pp. 349-53, 2002.
8. J. Simo and L. Vu-Quoc, "On the dynamics of flexible beams under large overall motions - The plane case part 1," J. Appl. Mech., vol. 53, no. 4, pp. 849-863, 1986.
9. I. Gravagne, C. Rahn, and I. Walker, "Large deflection dynamics and control for planar continuum robots," IEEE/ASME Trans. Mechatronics vol. 8, no. 2, pp. 299-307, Jun. 2003.
10. S. Hirose, Biologically Inspired Robots, Snake-Like Locomotors and Manipulators, 1st ed. Oxford, U.K.: Oxford Univ. Press, 1993.
11. S. Jacobsen, H. Ko, E. Iversen, and C. Davis, "Antagonistic control of a tendon driven manipulator," in Proc. IEEE ICRA, Scottsdale, AZ, 1989, pp. 1334-1339.
12. J. K. Salisbury and J. J. Craig, "Articulated hands - Force control and kinematic issues," Int. J. Robot. Res., vol. 1, no. 1, pp. 4-17, 1982.
13. S. Fang, D. Franitza, M. Torlo, F. Bekes, and M. Hiller, "Motion control of a tendon-based parallel manipulator using optimal tension distribution," IEEE/ASME Trans. Mechatronics, vol. 9, no. 3, pp. 561-568, Sep. 2004.
14. A. Muller, "Internal preload control of redundantly actuated parallel manipultors - Its application to backlash avoiding control," IEEE Trans. Robot., vol. 21, no. 4, pp. 668-677, Aug. 2005.
15. R. Verhoeven and M. Hiller, "Tension distribution in tendon-based stewart platforms," in Proc.ARK Int. Symp. Adv. Robot Kinematics, 2002, pp. 117-124.
16. G. Yang, C. Pham, and S. Yeo, "Workspace performance optimization of fully restrained cable-driven parallel manipulators," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Beijing, China, 2006, pp. 85-90.
17. C. Li and C. Rahn, "Design of continuous backbone, cable-driven robots," J. Mech. Des., vol. 124, no. 2, pp. 265-271, 2002.
18. B. Jones and I. Walker, "Kinematics for multisection continuum robots," IEEE Trans. Robot., vol. 22, no. 1, pp. 43-55, Feb. 2006.
19. K. Xu and N. Simaan, "Actuation compensation for flexible surgical snake-like robots with redundant remote actuation," in Proc. IEEE ICRA, 2006, pp. 4148-4154.
20. A. Kapoor, K. Xu, W. Wei, N. Simaan, and R. Taylor, "Telemanipulation of snake-like robots for minimally invasive surgery of the upper airway," in Proc. MICCAI Med. Robot. Workshop, 2006, pp. 17-25.
21. I. Gravagne and I. Walker, "On the kinematics of remotely-actuated continuum robots," in Proc. IEEE ICRA, San Francisco, CA, 2000, pp. 2544-2550.
22. M. Higashimori, M. Kaneko, A. Namiki, and M. Ishikawa, "Design of the 100g capturing robot based on dynamic preshaping," Int. J. Robot. Res., vol. 24, no. 9, pp. 743-753, 2005.
23. S. Stein and A. Barcellos, Calculus and Analytic Geometry, 5th ed. New York: McGraw-Hill, 1992.
24. J. Stoker, Differential Geometry. New York: Wiley, 1969.
25. L. Kollar and G. Springer, Mechanics of Composite Structures. Cambridge, U.K.: Cambridge Univ. Press, 2003.
26. F. Beer and E. Johnston, Mechanics of materials, 3rd ed. New York: McGraw-Hill, 2002.
27. D. Bertsimas and J. Tsitsiklis, Introduction to Linear Optimization Belmont, MA: Athena Scientific, 1997.
28. D. Camarillo, K. Loewke, C. Carlson, and J. Salisbury, "Vision based 3-D shape sensing of flexible manipulators," Proc. IEEE ICRA, Pasadena, CA, 2008, pp. 2940-2947.
29. O. Khatib, "A unified approach for motion and force control of robot manipulators - the operational space formulation," IEEE J. Robot. Autom., vol. 3, no. 1, pp. 43-53, Feb. 1987.