By pulling the cables, the continuum robot assumes the shape of an arc of a circle in 3D space. In the literature, forward kinematics of the robot has been developed using differential geometry of 3D curves. In this paper, we show that forward kinematics can also be obtained by discretizing...
Dynamics modeling of a 2-DoFs cable-driven continuum robot Purpose - Continuum robots modeling, be it from a hard or soft class, is giving rise to several challenges compared with rigid robots. These challenges are... L Bousbia,A Amouri,A Cherfia - 《World Journal of Engineering》 被引量...
Aiming at the problems of limited accuracy of model and poor position control precision caused by complex deformation of Cable-Driven Continuum Robot(CDCR), a shape sensing and feedback control approach for CDCR is proposed based on the elastic magnetoelectric strain sensor. Kinematic model of ...
Cable-driven soft continuum robots are important tools in minimally invasive surgery (MIS) to reduce the lesions, pain and risk of infection. The feasibility of employing deep reinforcement learning (DRL) for controlling cable-driven continuum robots has
necessarytopreoperativemotionplanningandnavigationforacontinuumrobot. Methods:Acable‐drivencontinuumrobotisproposed,andthemappingrelation- shipamongthedrivenspace,jointspaceandtaskspace,aswellasthedecoupling algorithmareanalyzedbasedonpiecewiseconstantcurvatureassumption.Moreover, anavigationmethodispresentedtoachievesemi‐...
Examples of CDPR applications: (a) NIST RoboCrane [33], (b) FALCON ultrahigh speed robot [34], (c) SkyCam video recorder system [35], (d) Sophia-3 string-operated planar haptic interface for arm rehabilitation [7], (e) FAST large-scale radio spherical telescope [36], (f) Arecibo la...
This report describes continuing development of a novel compact surgical assistant robot to control the orientation and insertion depth of a laparoscopic endoscope during abdomenal surgery. The steril PJ Berkelman,P Cinquin,J Troccaz,... - International Conference on Medical Image Computing & Computer...
The main purpose of this paper is to create a mechanism that can automatically gather and loosen the power line on the mobile cleaning robot. A single-chip... MC Chiu,LJ Yeh,CC Shih - 《Journal of Information & Optimization Sciences》 被引量: 6发表: 2010年 Dimension optimization design of...
3d printing of concrete with a continuum robot hose using variable curvature kinematics IEEE International Conference on Robotics and Automation (ICRA), IEEE (2022) Google Scholar Tudoroiu and Khorasani, 2005 N. Tudoroiu, K. Khorasani Fault detection and diagnosis for satellite's attitude control sy...
When applied to robot joints, this mechanism will facilitate safe human–machine interaction. The rest of the paper is structured as follows. Section 2 proposes the cable-driven rigid–flexible coupling parallel mechanism (RFCPM). The mobility, working process, and kinematics of the proposed ...