Characterizing the Workspace of Concentric Tube Continuum Robots

Conference: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
06/02/2014 - 06/03/2014 at München, Germany

Proceedings: ISR/Robotik 2014

Pages: 7Language: englishTyp: PDF

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Authors:
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)

Abstract:
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.