Investigation on the Shape Reconstruction of Cable-Driven Continuum Manipulators Considering Super-Large Deflections and Variable Structures

Yicheng Dai; Xiran Li; Xin Wang; Han Yuan

doi:10.1007/978-3-031-13822-5_17

Investigation on the Shape Reconstruction of Cable-Driven Continuum Manipulators Considering Super-Large Deflections and Variable Structures

Yicheng Dai
, Xiran Li
, Xin Wang
, Han Yuan^*

^*Corresponding author for this work

Harbin Institute of Technology Shenzhen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

The Cable-driven continuum manipulator is a kind of robot with high flexibility and dexterity. It has been attracting extensive attention in the past few years due to its potential applications for complex tasks in confined spaces. However, it is a challenge to accurately obtain the manipulator’s shape, especially for super-large deflections, like more than 180 In this paper, a novel shape reconstruction method based on Bézier curves is proposed for cable-driven continuum manipulators considering super-large defections and variable structures. In addition, a variety of structures of continuum manipulators are considered, where five kinds of manipulators with variable cross sections are manufactured and tested. The feasibility of the proposed method is verified by both simulations and experiments. Results show that the shape reconstruction errors (root-mean-square-error) are all less than 2.35 mm, compared to the 180 mm long manipulators, under various manipulator structures.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings
Editors	Honghai Liu, Weihong Ren, Zhouping Yin, Lianqing Liu, Li Jiang, Guoying Gu, Xinyu Wu
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	183-194
Number of pages	12
ISBN (Print)	9783031138218
DOIs	https://doi.org/10.1007/978-3-031-13822-5_17
State	Published - 2022
Externally published	Yes
Event	15th International Conference on Intelligent Robotics and Applications, ICIRA 2022 - Harbin, China Duration: 1 Aug 2022 → 3 Aug 2022

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	13456 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	15th International Conference on Intelligent Robotics and Applications, ICIRA 2022
Country/Territory	China
City	Harbin
Period	1/08/22 → 3/08/22

Keywords

Bézier curve
Continuum manipulators
Shape reconstruction
Super-large deflection
Variable structures

Access to Document

10.1007/978-3-031-13822-5_17

Cite this

Dai, Y., Li, X., Wang, X., & Yuan, H. (2022). Investigation on the Shape Reconstruction of Cable-Driven Continuum Manipulators Considering Super-Large Deflections and Variable Structures. In H. Liu, W. Ren, Z. Yin, L. Liu, L. Jiang, G. Gu, & X. Wu (Eds.), Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings (pp. 183-194). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 13456 LNAI). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-13822-5_17

Dai, Yicheng ; Li, Xiran ; Wang, Xin et al. / Investigation on the Shape Reconstruction of Cable-Driven Continuum Manipulators Considering Super-Large Deflections and Variable Structures. Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings. editor / Honghai Liu ; Weihong Ren ; Zhouping Yin ; Lianqing Liu ; Li Jiang ; Guoying Gu ; Xinyu Wu. Springer Science and Business Media Deutschland GmbH, 2022. pp. 183-194 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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title = "Investigation on the Shape Reconstruction of Cable-Driven Continuum Manipulators Considering Super-Large Deflections and Variable Structures",

abstract = "The Cable-driven continuum manipulator is a kind of robot with high flexibility and dexterity. It has been attracting extensive attention in the past few years due to its potential applications for complex tasks in confined spaces. However, it is a challenge to accurately obtain the manipulator{\textquoteright}s shape, especially for super-large deflections, like more than 180 In this paper, a novel shape reconstruction method based on B{\'e}zier curves is proposed for cable-driven continuum manipulators considering super-large defections and variable structures. In addition, a variety of structures of continuum manipulators are considered, where five kinds of manipulators with variable cross sections are manufactured and tested. The feasibility of the proposed method is verified by both simulations and experiments. Results show that the shape reconstruction errors (root-mean-square-error) are all less than 2.35 mm, compared to the 180 mm long manipulators, under various manipulator structures.",

keywords = "B{\'e}zier curve, Continuum manipulators, Shape reconstruction, Super-large deflection, Variable structures",

author = "Yicheng Dai and Xiran Li and Xin Wang and Han Yuan",

note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 15th International Conference on Intelligent Robotics and Applications, ICIRA 2022 ; Conference date: 01-08-2022 Through 03-08-2022",

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Dai, Y, Li, X, Wang, X & Yuan, H 2022, Investigation on the Shape Reconstruction of Cable-Driven Continuum Manipulators Considering Super-Large Deflections and Variable Structures. in H Liu, W Ren, Z Yin, L Liu, L Jiang, G Gu & X Wu (eds), Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 13456 LNAI, Springer Science and Business Media Deutschland GmbH, pp. 183-194, 15th International Conference on Intelligent Robotics and Applications, ICIRA 2022, Harbin, China, 1/08/22. https://doi.org/10.1007/978-3-031-13822-5_17

Investigation on the Shape Reconstruction of Cable-Driven Continuum Manipulators Considering Super-Large Deflections and Variable Structures. / Dai, Yicheng; Li, Xiran; Wang, Xin et al.
Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings. ed. / Honghai Liu; Weihong Ren; Zhouping Yin; Lianqing Liu; Li Jiang; Guoying Gu; Xinyu Wu. Springer Science and Business Media Deutschland GmbH, 2022. p. 183-194 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 13456 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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PY - 2022

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Dai Y, Li X, Wang X , Yuan H. Investigation on the Shape Reconstruction of Cable-Driven Continuum Manipulators Considering Super-Large Deflections and Variable Structures. In Liu H, Ren W, Yin Z, Liu L, Jiang L, Gu G, Wu X, editors, Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings. Springer Science and Business Media Deutschland GmbH. 2022. p. 183-194. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-031-13822-5_17