TY - GEN
T1 - Visual Servoing Control of Concentric-tube Robot with Jacobian Matrix Estimation
AU - Yang, Xing
AU - Cen, Guagndu
AU - Zhang, Chao
AU - Wang, Jiaole
AU - Song, Shuang
AU - Meng, Max Q.H.
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - A practical CTR kinematics model must consider torsion, shear, friction, interactive force and nonlinear constitutive behavior, which makes the model extremely complicated and computationally expensive. This paper proposes a model-free and uncalibrated approach to conduct eye-in-hand visual servoing (EiH-VS) for concentric-tube robots (CTRs) in minimally-invasive surgery. An adaptive controller is designed for fast convergence. We propose to numerically calculate an image Jacobian to map the image deviations to robot joint variables. The image Jacobian is online estimated based on unscented Kalman filter (UKF) without the prior knowledge of CTR kinematic model or hand-eye calibration. A customized observation function is constructed to describe the mapping relationship between state and measurement vectors. The results of simulations and experiments validate the efficiency and superiority of the proposed methods.
AB - A practical CTR kinematics model must consider torsion, shear, friction, interactive force and nonlinear constitutive behavior, which makes the model extremely complicated and computationally expensive. This paper proposes a model-free and uncalibrated approach to conduct eye-in-hand visual servoing (EiH-VS) for concentric-tube robots (CTRs) in minimally-invasive surgery. An adaptive controller is designed for fast convergence. We propose to numerically calculate an image Jacobian to map the image deviations to robot joint variables. The image Jacobian is online estimated based on unscented Kalman filter (UKF) without the prior knowledge of CTR kinematic model or hand-eye calibration. A customized observation function is constructed to describe the mapping relationship between state and measurement vectors. The results of simulations and experiments validate the efficiency and superiority of the proposed methods.
KW - Adaptive visual servoing controller
KW - Concentric-tube robots
KW - Model-free and uncalibration
KW - Unscented Kalman filter
UR - https://www.scopus.com/pages/publications/85128181836
U2 - 10.1109/ROBIO54168.2021.9739571
DO - 10.1109/ROBIO54168.2021.9739571
M3 - 会议稿件
AN - SCOPUS:85128181836
T3 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
SP - 1460
EP - 1466
BT - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
Y2 - 27 December 2021 through 31 December 2021
ER -