TY - GEN
T1 - RRT-smooth algorithm applied to motion planning of concentric tube robots
AU - Zhang, Di
AU - Wang, Jie
AU - Yang, Xing
AU - Song, Shuang
AU - Meng, Max Q.H.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/8
Y1 - 2018/8
N2 - Concentric tube robots have broad prospects for the development of minimally invasive surgery. Concentric tubes consist of super-elastic nickel-titanium alloys, so they can exhibit different shapes when they are relatively rotated or translated. Moreover, compared to traditional robots, concentric tube robots are smaller and more flexible, they can work in tight spaces or complicated environments consequently. In this paper, for the application of concentric tube robot with dominant stiffness, the forward kinematics calculation formula and the detailed inverse kinematics geometry method are given. In addition, RRT-smooth algorithm is proposed after smoothing twice based on RRT, and compared with other motion planning algorithms. Experiments show that it can quickly plan a shortest path while guaranteeing collision-free.
AB - Concentric tube robots have broad prospects for the development of minimally invasive surgery. Concentric tubes consist of super-elastic nickel-titanium alloys, so they can exhibit different shapes when they are relatively rotated or translated. Moreover, compared to traditional robots, concentric tube robots are smaller and more flexible, they can work in tight spaces or complicated environments consequently. In this paper, for the application of concentric tube robot with dominant stiffness, the forward kinematics calculation formula and the detailed inverse kinematics geometry method are given. In addition, RRT-smooth algorithm is proposed after smoothing twice based on RRT, and compared with other motion planning algorithms. Experiments show that it can quickly plan a shortest path while guaranteeing collision-free.
KW - Collision-free.
KW - Concentric tube robot
KW - Kinematics
KW - Path length
KW - Smoothing
UR - https://www.scopus.com/pages/publications/85072342199
U2 - 10.1109/ICInfA.2018.8812514
DO - 10.1109/ICInfA.2018.8812514
M3 - 会议稿件
AN - SCOPUS:85072342199
T3 - 2018 IEEE International Conference on Information and Automation, ICIA 2018
SP - 487
EP - 493
BT - 2018 IEEE International Conference on Information and Automation, ICIA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Information and Automation, ICIA 2018
Y2 - 11 August 2018 through 13 August 2018
ER -