Geometric Calibration of Continuum Robots: Joint Space and Equilibrium Shape Deviations | Zendy

Long Wang | Zendy; Nabil Simaan | Zendy

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Geometric Calibration of Continuum Robots: Joint Space and Equilibrium Shape Deviations

Author(s) -

Long Wang,

Nabil Simaan

Publication year - 2019

Publication title -

ieee transactions on robotics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 2.027

H-Index - 159

eISSN - 1941-0468

pISSN - 1552-3098

DOI - 10.1109/tro.2018.2881049

Subject(s) - robot , calibration , kinematics , computer science , nonlinear system , control theory (sociology) , algorithm , artificial intelligence , computer vision , mathematics , physics , classical mechanics , statistics , control (management) , quantum mechanics

Currently, surgical continuum robots (CRs) are predominantly used as telemanipulators where modeling errors are overcome by the user. Such errors preclude their use for autonomous tasks. In this paper, we investigate the calibration of CRs with specific focus on capturing joint space errors due to homing offsets, assembly errors causing twist about the robot's backbone, and uncertainty in the equi...

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