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Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot With Three Extensible Segments

Mohamed Taha Chikhaoui 1 Sven Lilge Simon Kleinschmidt Jessica Burgner-Kahrs 2
1 TIMC-IMAG-GMCAO - Gestes Medico-chirurgicaux Assistés par Ordinateur
TIMC-IMAG - Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525
Abstract : Continuum robots actuated by tendons are a widely researched robot design offering high dexterity and large workspaces relative to their volume. Their flexible and compliant structure can be easily miniaturized, making them predestined for applications in difficult-to-reach and confined spaces. Adaption of this specific robot design includes extensible segments leading to an even higher manipulability and enabling so-called follow-the-leader motions of the manipulator. In this letter, kinematic modeling for a tendon actuated continuum robot with three extensible segments is investigated. The focus is drawn on the comparison of two of the most widely used modeling approaches both for freespace and loaded configurations. Through extensive experimental validation, the modeling performances are assessed qualitatively and quantitatively in terms of the shape deviation, Euclidean error at segment ends, and …
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https://hal.archives-ouvertes.fr/hal-02179738
Contributeur : Catherine Zoppis <>
Soumis le : jeudi 11 juillet 2019 - 10:43:55
Dernière modification le : vendredi 12 juillet 2019 - 01:15:42

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Mohamed Taha Chikhaoui, Sven Lilge, Simon Kleinschmidt, Jessica Burgner-Kahrs. Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot With Three Extensible Segments. IEEE Robotics and Automation Letters, IEEE 2019, 4 (2), pp.989-996. ⟨10.1109/LRA.2019.2893610⟩. ⟨hal-02179738⟩

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