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• W1508808146 abstract "Parallel continuum robots have the potential to provide multi-degree-of-freedom articulation using a structure that is simple, compact, compliant, and highly scalable. These characteristics may be useful in micromanipulation, endoscopic robotic-assisted surgery, and human-robot interaction. Our prior work formulated a kinematic model which treats a parallel continuum robot as a set of multiple Cosserat rods with coupled boundary conditions. In this paper, we detail methods for the efficient numerical solution of this model at rates that enable real-time interactive simulation, motion planning, design optimization, and control. Exploitation of the model structure enables a significant reduction in the number of integrations required to evaluate the boundary value Jacobian matrix used in a shooting method. Our approach is used to teleoperate a prototype robot using real-time inverse kinematics solutions, and simulation tests show that inverse kinematics solutions are consistently computed at rates of several kilohertz using standard desktop computing hardware." @default.
• W1508808146 created "2016-06-24" @default.
• W1508808146 creator A5009195946 @default.
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• W1508808146 date "2015-05-01" @default.
• W1508808146 modified "2023-10-01" @default.
• W1508808146 title "Efficient computation of multiple coupled Cosserat rod models for real-time simulation and control of parallel continuum manipulators" @default.
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• W1508808146 doi "https://doi.org/10.1109/icra.2015.7139904" @default.
• W1508808146 hasPublicationYear "2015" @default.
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