Image Servo Tracking of a Flexible Manipulator Prototype with Connected Continuum Kinematic Modules
This paper presents the design and implementation of a flexible manipulator formed of connected continuum kinematic modules (CKMs) to ease the fabrication of a continuum robot with multiple degrees of freedom. The CKM consists of five sequentially arranged circular plates, four universal joints inte...
| Principais autores: | , , , |
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| Formato: | Artigo |
| Idioma: | English |
| Publicado em: |
MDPI AG
2022-12-01
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| coleção: | Actuators |
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| Acesso em linha: | https://www.mdpi.com/2076-0825/11/12/360 |
| _version_ | 1827642438846513152 |
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| author | Ming-Hong Hsu Phuc Thanh-Thien Nguyen Dai-Dong Nguyen Chung-Hsien Kuo |
| author_facet | Ming-Hong Hsu Phuc Thanh-Thien Nguyen Dai-Dong Nguyen Chung-Hsien Kuo |
| author_sort | Ming-Hong Hsu |
| collection | DOAJ |
| description | This paper presents the design and implementation of a flexible manipulator formed of connected continuum kinematic modules (CKMs) to ease the fabrication of a continuum robot with multiple degrees of freedom. The CKM consists of five sequentially arranged circular plates, four universal joints intermediately connecting five circular plates, three individual actuated tension cables, and compression springs surrounding the tension cables. The base and movable circular plates are used to connect the robot platform or the neighboring CKM. All tension cables are controlled via linear actuators at a distal site. To demonstrate the function and feasibility of the proposed CKM, the kinematics of the continuum manipulator were verified through a kinematic simulation at different end velocities. The correctness of the manipulator posture was confirmed through the kinematic simulation. Then, a continuum robot formed with three CKMs is fabricated to perform Jacobian-based image servo tracking tasks. For the eye-to-hand (ETH) experiment, a heart shape trajectory was tracked to verify the precision of the kinematics, which achieved an endpoint error of 4.03 in Root Mean Square Error (RMSE). For the eye-in-hand (EIH) plugging-in/unplugging experiment, the accuracy of the image servo tracking system was demonstrated in extensive tolerance conditions, with processing times as low as <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>58</mn><mo>±</mo><mn>2.12</mn></mrow></semantics></math></inline-formula> s and <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>83</mn><mo>±</mo><mn>6.87</mn></mrow></semantics></math></inline-formula> s at the 90% confidence level in unplugging and plugging-in tasks, respectively. Finally, quantitative tracking error analyses are provided to evaluate the overall performance. |
| first_indexed | 2024-03-09T17:28:21Z |
| format | Article |
| id | doaj.art-cf2b4b944b7d482a8f96ff41edc1de1c |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-09T17:28:21Z |
| publishDate | 2022-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-cf2b4b944b7d482a8f96ff41edc1de1c2023-11-24T12:35:13ZengMDPI AGActuators2076-08252022-12-01111236010.3390/act11120360Image Servo Tracking of a Flexible Manipulator Prototype with Connected Continuum Kinematic ModulesMing-Hong Hsu0Phuc Thanh-Thien Nguyen1Dai-Dong Nguyen2Chung-Hsien Kuo3Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei 106, TaiwanDepartment of Electrical Engineering, National Taiwan University of Science and Technology, Taipei 106, TaiwanDepartment of Electrical Engineering, National Taiwan University of Science and Technology, Taipei 106, TaiwanDepartment of Mechanical Engineering, National Taiwan University, Taipei 106, TaiwanThis paper presents the design and implementation of a flexible manipulator formed of connected continuum kinematic modules (CKMs) to ease the fabrication of a continuum robot with multiple degrees of freedom. The CKM consists of five sequentially arranged circular plates, four universal joints intermediately connecting five circular plates, three individual actuated tension cables, and compression springs surrounding the tension cables. The base and movable circular plates are used to connect the robot platform or the neighboring CKM. All tension cables are controlled via linear actuators at a distal site. To demonstrate the function and feasibility of the proposed CKM, the kinematics of the continuum manipulator were verified through a kinematic simulation at different end velocities. The correctness of the manipulator posture was confirmed through the kinematic simulation. Then, a continuum robot formed with three CKMs is fabricated to perform Jacobian-based image servo tracking tasks. For the eye-to-hand (ETH) experiment, a heart shape trajectory was tracked to verify the precision of the kinematics, which achieved an endpoint error of 4.03 in Root Mean Square Error (RMSE). For the eye-in-hand (EIH) plugging-in/unplugging experiment, the accuracy of the image servo tracking system was demonstrated in extensive tolerance conditions, with processing times as low as <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>58</mn><mo>±</mo><mn>2.12</mn></mrow></semantics></math></inline-formula> s and <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>83</mn><mo>±</mo><mn>6.87</mn></mrow></semantics></math></inline-formula> s at the 90% confidence level in unplugging and plugging-in tasks, respectively. Finally, quantitative tracking error analyses are provided to evaluate the overall performance.https://www.mdpi.com/2076-0825/11/12/360continuum robotimage servo trackingimage jacobianautonomous manipulation |
| spellingShingle | Ming-Hong Hsu Phuc Thanh-Thien Nguyen Dai-Dong Nguyen Chung-Hsien Kuo Image Servo Tracking of a Flexible Manipulator Prototype with Connected Continuum Kinematic Modules Actuators continuum robot image servo tracking image jacobian autonomous manipulation |
| title | Image Servo Tracking of a Flexible Manipulator Prototype with Connected Continuum Kinematic Modules |
| title_full | Image Servo Tracking of a Flexible Manipulator Prototype with Connected Continuum Kinematic Modules |
| title_fullStr | Image Servo Tracking of a Flexible Manipulator Prototype with Connected Continuum Kinematic Modules |
| title_full_unstemmed | Image Servo Tracking of a Flexible Manipulator Prototype with Connected Continuum Kinematic Modules |
| title_short | Image Servo Tracking of a Flexible Manipulator Prototype with Connected Continuum Kinematic Modules |
| title_sort | image servo tracking of a flexible manipulator prototype with connected continuum kinematic modules |
| topic | continuum robot image servo tracking image jacobian autonomous manipulation |
| url | https://www.mdpi.com/2076-0825/11/12/360 |
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