Friction modeling in concentric tube robots

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2011, Pages 1139-1146

  Lock, Jesse ^a   Dupont, Pierre E ^b  

^a BOSTON UNIVERSITY   (United States)

^b BOSTON CHILDREN S HOSPITAL   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONCENTRATED BENDING MOMENTS; CONCENTRIC TUBE; CONTINUUM ROBOT; DIRECTIONAL DEPENDENCE; DISTRIBUTED FORCES; ELASTIC TUBES; EXPERIMENTAL EVALUATION; FRICTION MODELING; FRICTIONAL TORQUE; PAPER MODELS; QUASI-STATIC FORCE; RELATIVE ROTATION; TWO SOURCES;

BENDING (FORMING); FRICTION; ROBOTICS; ROBOTS;

TUBES (COMPONENTS);

EID: 84858672737     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2011.5980347     Document Type: Conference Paper

References (15)

1. P.E. Dupont, J. Lock and E. Butler, "Torsional Kinematic Model for Concentric Tube Robots," IEEE Int. Conf. on Robotics & Automation, Kobe, Japan, pp. 3851-58, 2009.
2. P. Dupont, J. Lock, B. Itkowitz, E. Butler, "Design and Control of Concentric Tube Robots," IEEE Trans Robotics 2010;26(2):209-225.
3. D. Rucker, R. Webster III, G. Chirikjian and N. Cowan, "Equilibrium Conformations of Concentric-tube Continuum Robots," Int J Robotics Research, 2010;29(10):1263-1280.
4. D. C. Rucker, B. A. Jones, and R. J. Webster III. A Model for Concentric Tube Continuum Robots Under Applied Wrenches. IEEE Int Conf Robotics and Automation, 1047-1052, 2010.
5. Lock J, Laing G, Mahvash M, Dupont P. Quasistatic Modeling of Concentric Tube Robots with External Loads. IEEE/RSJ Intelligent Robots and Systems (IROS) 2010:2325-2332.
6. Dupont P, Lock J, Itkowitz, B. Real-time Position Control of Concentric Tube Robots. Conf Proc IEEE International Conference on Robotics and Automation 2010: 562-568.
7. M. Mahvash, P. Dupont, "Stiffness Control of a Continuum Manipulator in Contact with a Soft Environment," IEEE/RSJ Int Conf Intelligent Robots and Systems, Taipei, Taiwan, 2010:863-870.
8. M. Mahvash, P. Dupont, "Stiffness Control of Continuum Surgical Manipulators," IEEE Trans. Robotics, in press, 2011.
9. L. Lyons, R. Webster III and R. Alterovitz, "Motion Planning for Active Cannulas," IEEE/RSJ Int. Conference on Intelligent Robots and Systems, St. Louis, 2009:801-806.
10. L. Lyons, R. Webster III and R. Alterovitz, "Planning Active Cannula Configurations through Tubular Anatomy," IEEE Int Conf Robotics and Automation, Anchorage, 2010:2082-2087.
11. B. Armstrong-Hélouvry, P. Dupont, C. Canudas de Wit, "A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines with Friction," Automatica 1994;30(7):1083-1138.
12. R.L. Bishop, "There is More than One Way to Frame a Curve," The American Mathematical Monthly, 82(3):246-251, March 1975.
13. S.S. Antman. Nonlinear problems of elasticity. Springer Verlag, New York, 1995.
14. D. Pai, "Strands: Interactive Simulation of Thin Solids Using Cosserat Models," Eurographics'02, 21(3), pp.347-352, 1990.
15. D. Trivedi, A. Lofti and C. Rahn, "Geometrically Exact Models for Soft Robotic Manipulators," IEEE Trans. Robotics, 24(4):773-780, 2008.