Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes

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dc.identifier.uri http://dx.doi.org/10.15488/10388
dc.identifier.uri https://www.repo.uni-hannover.de/handle/123456789/10462
dc.contributor.author Modes, Vincent eng
dc.contributor.author Burgner-Kahrs, Jessica eng
dc.date.accessioned 2021-02-08T06:29:39Z
dc.date.available 2021-02-08T06:29:39Z
dc.date.issued 2019
dc.identifier.citation Modes, V.; Burgner-Kahrs, J.: Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes. In: IEEE Robotics and Automation Letters 5 (2020), Nr. 1, S. 103-110. DOI: https://doi.org/10.1109/LRA.2019.2946060 eng
dc.description.abstract Joint level calibration is an integral part of robotics as it directly influences the achievable accuracy. As opposed to serial robotic arms, continuum robots are not composed of any rigid links or joints, but of elastic materials that undergo bending and torsion. The jointless composition requires dedicated calibration procedures. In this letter, we introduce an automatic method for aligning precurved elastic tubes for joint level calibration of concentric tube continuum robots. The robot tip is equipped with a sensor in order to track its position during calibration such that subsequent data processing can extract the rotational zero position automatically. While we present a general framework independent of the utilized sensor technology, we evaluate our approach using three different sensing methodologies, i.e. magnetic, inductive, and electromagnetic. Furthermore, we advise on properties for appropriate sensors. Our experimental results show, that the rotational home position can be found reproducibly with a minimal dispersion of 0.011°. eng
dc.language.iso eng eng
dc.publisher New York, N.Y. : Institute of Electrical and Electronics Engineers
dc.relation.ispartofseries IEEE Robotics and Automation Letters 5 (2020), Nr. 1 eng
dc.rights Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. eng
dc.subject Flexible Robots eng
dc.subject Calibration and Identification eng
dc.subject.ddc 620 | Ingenieurwissenschaften und Maschinenbau eng
dc.title Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes eng
dc.type article eng
dc.type Text eng
dc.relation.essn 2377-3766
dc.relation.doi 10.1109/LRA.2019.2946060
dc.description.version acceptedVersion eng
tib.accessRights frei zug�nglich eng


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