Characterizing the Workspace of Concentric Tube Continuum Robots
Konferenz: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
02.06.2014 - 03.06.2014 in München, Germany
Tagungsband: ISR/Robotik 2014
Seiten: 7Sprache: EnglischTyp: PDF
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Autoren:
Granna, Josephine; Burgner, Jessica (Emmy Noether Research Group CROSS - Continuum Robots for Surgical Systems, Leibniz Universitaet Hannover, Center of Mechatronics, Appelstr. 11, 30167 Hannover, Germany)
Inhalt:
Workspace determination of concentric tube continuum robots (CTCR) is indispensable for task-specific design methods. The kinematic structure of CTCR differs substantially from serial robots, such that their workspace cannot be determined straight-forward. We use Monte Carlo random sampling of the joint space to estimate the spatial extend of a CTCR workspace. We introduce a volumetric representation of the robot’s workspace, which allows for quick workspace volume calculations and determination of further characteristics.