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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Vydáno v:	IEEE transactions on robotics Ročník 28; číslo 2; s. 291 - 302
Hlavní autoři:	Bajo, A., Simaan, N.
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	New York, NY IEEE 01.04.2012 Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:	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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Abstract	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.
AbstractList	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. 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. [PUBLICATION ABSTRACT]
Author	Bajo, A. Simaan, N.
Author_xml	– sequence: 1 givenname: A. surname: Bajo fullname: Bajo, A. email: andrea.bajo@vanderbilt.edu organization: Dept. of Mech. Eng., Vanderbilt Univ., Nashville, TN, USA – sequence: 2 givenname: N. surname: Simaan fullname: Simaan, N. email: nabil.simaan@vanderbilt.edu organization: Dept. of Mech. Eng., Vanderbilt Univ., Nashville, TN, USA
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SubjectTerms	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
Title	Kinematics-Based Detection and Localization of Contacts Along Multisegment Continuum Robots
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