TY - GEN
T1 - Kinematic model analysis and ros control of cable driven continuous robot manipulator
AU - Leon-Rodriguez, Hernando
AU - Moncada, Yefry
AU - Mosqueda, Simon
AU - Murrugarra, Cecilia
AU - Canu, Michael
N1 - Publisher Copyright:
© Springer Nature Switzerland AG 2021.
PY - 2021
Y1 - 2021
N2 - This paper describes the developed of cable continues redundant manipulator and its kinematic model analysis. The goal is to determine the accuracy of the experimental prototype with the constant curvature kinematic model. The experimental validation of the constant curvature kinematic model is evaluated to establish a relation between the mathematical model and continuum robot, and its feasibility of applying for any type of continuous redundant structure by computing the end effector trajectory based on the displacement of passive cables located along the structure. The continuous redundant prototype robot is composed by 2 segments with 7 modules sections powered by 6 driven cables where each segment is controlled with 3 lineal motors. The length of the segment is desired but it is also allows to add modular sections and connect them like serial chain. The radius of concave and/or convex curvature allows the robot manipulator to follow different trajectories and displacements in their workspace. The paper also describes the relevant components and the position feedback control implemented via ROS.
AB - This paper describes the developed of cable continues redundant manipulator and its kinematic model analysis. The goal is to determine the accuracy of the experimental prototype with the constant curvature kinematic model. The experimental validation of the constant curvature kinematic model is evaluated to establish a relation between the mathematical model and continuum robot, and its feasibility of applying for any type of continuous redundant structure by computing the end effector trajectory based on the displacement of passive cables located along the structure. The continuous redundant prototype robot is composed by 2 segments with 7 modules sections powered by 6 driven cables where each segment is controlled with 3 lineal motors. The length of the segment is desired but it is also allows to add modular sections and connect them like serial chain. The radius of concave and/or convex curvature allows the robot manipulator to follow different trajectories and displacements in their workspace. The paper also describes the relevant components and the position feedback control implemented via ROS.
KW - Cable robotic system
KW - Continuous redundant robot
KW - End effector
KW - Mathematical model
UR - https://www.scopus.com/pages/publications/85089715232
U2 - 10.1007/978-3-030-53021-1_39
DO - 10.1007/978-3-030-53021-1_39
M3 - Conference contribution
AN - SCOPUS:85089715232
SN - 9783030530204
T3 - Lecture Notes in Electrical Engineering
SP - 384
EP - 393
BT - AETA 2019 - Recent Advances in Electrical Engineering and Related Sciences
A2 - Cortes Tobar, Dario Fernando
A2 - Hoang Duy, Vo
A2 - Trong Dao, Tran
PB - Springer
T2 - 6th International Conference on Advanced Engineering Theory and Applications, AETA 2019
Y2 - 6 November 2019 through 8 November 2019
ER -