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Design, Modeling, and Evaluation of Separable Tendon-Driven Robotic Manipulator with Long, Passive, Flexible Proximal Section | | Christian DeBuys
; Florin C. Ghesu
; Jagadeesan Jayender
; Reza Langari
; Young-Ho Kim
; | | Date: |
1 Jan 2023 | | Abstract: | The purpose of this work was to tackle practical issues which arise when
using a tendon-driven robotic manipulator with a long, passive, flexible
proximal section in medical applications. A separable robot which overcomes
difficulties in actuation and sterilization is introduced, in which the body
containing the electronics is reusable and the remainder is disposable. A
control input which resolves the redundancy in the kinematics and a physical
interpretation of this redundancy are provided. The effect of a static change
in the proximal section angle on bending angle error was explored under four
testing conditions for a sinusoidal input. Bending angle error increased for
increasing proximal section angle for all testing conditions with an average
error reduction of 41.48% for retension, 4.28% for hysteresis, and 52.35% for
re-tension + hysteresis compensation relative to the baseline case. Two major
sources of error in tracking the bending angle were identified: time delay from
hysteresis and DC offset from the proximal section angle. Examination of these
error sources revealed that the simple hysteresis compensation was most
effective for removing time delay and re-tension compensation for removing DC
offset, which was the primary source of increasing error. The re-tension
compensation was also tested for dynamic changes in the proximal section and
reduced error in the final configuration of the tip by 89.14% relative to the
baseline case. | | Source: | arXiv, 2301.00337 | | Services: | Forum | Review | PDF | Favorites | |
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