Kinematics-Based Detection and Localization of Contacts Along Multisegment Continuum Robots

In this paper, we present a novel kinematic-based framework for collision detection and estimation of contact location along multisegment continuum robots. Screw theory is used to define a screw motion deviation (SMD) as the distance between the expected and the actual instantaneous screw axis (ISA)...

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Vydané v:IEEE transactions on robotics Ročník 28; číslo 2; s. 291 - 302
Hlavní autori: Bajo, A., Simaan, N.
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: New York, NY IEEE 01.04.2012
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:
Algorithms
Applied sciences
Collision avoidance
Collision detection
Collisions
Computer science; control theory; systems
continuum robots
Control theory. Systems
Estimation
estimation of contact
Exact sciences and technology
Fasteners
Kinematics
Motion segmentation
Robot sensing systems
Robotics
Robots
screw theory
Simulation
Constraint
Measurement sensor
Collision
Minimization
estimation of contact
Ground truth
Modeling
Confined space
Robotics
Continuum
Relative motion
Biomimetics
Kinematics
continuum robots
Continuum mechanics
Safety
Localization
Collision detection
Arm
Collision avoidance
Screw theory
ISSN:1552-3098, 1941-0468
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Popis
Shrnutí:In this paper, we present a novel kinematic-based framework for collision detection and estimation of contact location along multisegment continuum robots. Screw theory is used to define a screw motion deviation (SMD) as the distance between the expected and the actual instantaneous screw axis (ISA) of motion. The expected ISA is computed based on the unconstrained kinematics model of the robot, while the actual ISA is computed based on sensory information. Collisions with rigid environments at any point along the robot are detected by monitoring the SMD. Contact locations are estimated by the minimization of the SMD between the ISA that is obtained from a constrained kinematic model of the continuum robot and the one that is obtained from sensor data. The proposed contact detection and localization methods only require the relative motion of each continuum segment with respect to its own base. This strategy allows the straightforward generalization of these algorithms for an n -segment continuum robot. The framework is evaluated via simulations and experimentally on a three-segment multibackbone continuum robot. Results show that the collision-detection algorithm is capable of detecting a single collision at any segment, multiple collisions occurring at multiple segments, and total-arm constraint. It is also shown that the estimation of contact location is possible at any location along the continuum robot with an accuracy better than 20% of the segment nominal length. We believe this study will enhance manipulation safety in unstructured environments and confined spaces.
Bibliografia:ObjectType-Article-1
SourceType-Scholarly Journals-1
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ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2011.2175761