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

authored by: Mohamed Taha Chikhaoui, Josephine Granna, Julia Starke, Jessica Burgner-Kahrs
Abstract: 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.
Organisation(s): Chair in Continuum Robotics
Institute of Continuum Mechanics
Type: Article
Journal: IEEE Robotics and Automation Letters
Volume: 3
Pages: 1793-1800
No. of pages: 8
ISSN: 2377-3766
Publication date: 07.2018
Publication status: Published
Peer reviewed: Yes
ASJC Scopus subject areas: Control and Systems Engineering, Biomedical Engineering, Human-Computer Interaction, Mechanical Engineering, Computer Vision and Pattern Recognition, Computer Science Applications, Control and Optimization, Artificial Intelligence
Electronic version(s): https://doi.org/10.1109/LRA.2018.2800037 (Access: Closed)
: Details in the research portal "Research@Leibniz University"

BibTeX

@article{e8bfa421291448b38712d91feae9d250,
title = "Toward Motion Coordination Control and Design Optimization for Dual-Arm Concentric Tube Continuum Robots",
abstract = "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.",
keywords = "Dual arm manipulation, medical robots and systems, motion control",
author = "Chikhaoui, {Mohamed Taha} and Josephine Granna and Julia Starke and Jessica Burgner-Kahrs",
year = "2018",
month = jul,
doi = "10.1109/LRA.2018.2800037",
language = "English",
volume = "3",
pages = "1793--1800",
journal = "IEEE Robotics and Automation Letters",
issn = "2377-3766",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "3",
}