Towards in situ Backlash Estimation of Continuum Robots using an Endoscopic Camera - Ecole Nationale du Génie de l'Eau et de l'Environnement de Strasbourg Accéder directement au contenu
Article Dans Une Revue IEEE Robotics and Automation Letters Année : 2020

Towards in situ Backlash Estimation of Continuum Robots using an Endoscopic Camera

Résumé

Accurate control of continuum robots requires handling non-linear behaviors between actuators and distal effectors. In this paper, we develop a method for estimating the non-linearities of tendon-driven degrees of freedom of flexible endoscopic systems by using a distal endoscopic camera and encoders at the proximal side. The proposed approach separates the non-linearities in two parts, namely a pure non uniform backlash and a non-linear function. The backlash is estimated without relying on any model, while the non-linear function is obtained by a pose estimation process. Experiments realized on a robotic flexible endoscopy platform (STRAS) show the validity of the approach for estimating in situ the quasi-static behavior of the robot and for compensating the non-linearities of the motion transmission.
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Dates et versions

hal-02869978 , version 1 (16-06-2020)

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  • HAL Id : hal-02869978 , version 1

Citer

Thibault Poignonec, Philippe Zanne, Benoît Rosa, Florent Nageotte. Towards in situ Backlash Estimation of Continuum Robots using an Endoscopic Camera. IEEE Robotics and Automation Letters, In press. ⟨hal-02869978⟩
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