TY - GEN
T1 - Configuration and joint feedback for enhanced performance of multi-segment continuum robots
AU - Bajo, Andrea
AU - Goldman, Roger E.
AU - Simaan, Nabil
PY - 2011
Y1 - 2011
N2 - Multi-segment continuum robots offer enhanced safety during surgery due to their inherent passive compliance. However, they suffer poor position tracking performance due to flexibility of their actuation lines, structural compliance, and actuation coupling effects between segments. The need for control methods addressing accurate tracking for multisegment continuum robots is magnified by increased precision requirements of surgical procedures employing these structures. To address this need, this paper proposes a tiered controller that uses both extrinsic and intrinsic sensory information for improved performance of multi-segment continuum robots. The higher tier of this controller uses configuration space feedback while the lower tier uses joint space feedback and a feed-forward term obtained with actuation compensation techniques. We prove the stability of this controller using Lyapunov's direct method and experimentally evaluate its performance on a three-segment multi-backbone continuum robot. Results demonstrate its efficacy in enhancing regulation and tracking performance. It is shown that the controller mitigates the effects of actuation coupling between robot's sub-segments and decreases phase lag. These results suggest that this tiered controller will enhance telemanipulation performance of multi-segment continuum robots.
AB - Multi-segment continuum robots offer enhanced safety during surgery due to their inherent passive compliance. However, they suffer poor position tracking performance due to flexibility of their actuation lines, structural compliance, and actuation coupling effects between segments. The need for control methods addressing accurate tracking for multisegment continuum robots is magnified by increased precision requirements of surgical procedures employing these structures. To address this need, this paper proposes a tiered controller that uses both extrinsic and intrinsic sensory information for improved performance of multi-segment continuum robots. The higher tier of this controller uses configuration space feedback while the lower tier uses joint space feedback and a feed-forward term obtained with actuation compensation techniques. We prove the stability of this controller using Lyapunov's direct method and experimentally evaluate its performance on a three-segment multi-backbone continuum robot. Results demonstrate its efficacy in enhancing regulation and tracking performance. It is shown that the controller mitigates the effects of actuation coupling between robot's sub-segments and decreases phase lag. These results suggest that this tiered controller will enhance telemanipulation performance of multi-segment continuum robots.
UR - http://www.scopus.com/inward/record.url?scp=84859756996&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84859756996&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5980005
DO - 10.1109/ICRA.2011.5980005
M3 - Conference contribution
AN - SCOPUS:84859756996
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2905
EP - 2912
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -