Toward Motion Coordination Control and Design Optimization for Dual-Arm Concentric Tube Continuum Robots

Dual-arm continuum robots have been considered mainly for teleoperation, where human perception and cognition permitted coordination, and collision-free motions. This letter describes theoretical investigations on automation of dual-arm robots constituted of two concentric tube continuum manipulator...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2018-07, Vol.3 (3), p.1793-1800
Main Authors: Chikhaoui, Mohamed Taha, Granna, Josephine, Starke, Julia, Burgner-Kahrs, Jessica
Format: Article
Language:English
Subjects:
Algorithm design and analysis
Algorithms
Automatic control
Cognition
Collaboration
Collision avoidance
Computer simulation
Control algorithms
Control theory
Coordination
Design optimization
Dual arm manipulation
Electron tubes
Jacobian matrices
Manipulators
Mathematical models
medical robots and systems
motion control
Optimization algorithms
Robot arms
Robot kinematics
Robots
Task analysis
Tracking control
Trajectory control
Triangulation
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Summary:Dual-arm continuum robots have been considered mainly for teleoperation, where human perception and cognition permitted coordination, and collision-free motions. This letter describes theoretical investigations on automation of dual-arm robots constituted of two concentric tube continuum manipulators. An optimization algorithm is developed in order to improve triangulation ability of the robot and thus enhance the arms' collaborative operation. This a priori knowledge provides design directives in order to fulfill integration, reachability, and collaboration requirements. Further, automatic control is assigned to perform online safe collaboration tasks. Our initial exploration is validated with numerical simulations using robot designs based on the optimization algorithm output. The control algorithm-based on the relative Jacobian and Cosserat rod modeling-performs simultaneously with less than 1% of the total robot's length of accuracy for both relative end-effector distance control and trajectory tracking.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2018.2800037