Profile and contact force estimation of cable-driven continuum robots in presence of obstacles

K. P. Ashwin,Soumya Kanti Mahapatra,Ashitava Ghosal

Mechanism and Machine Theory（2021）

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摘要

•A new optimization-based framework for contact estimation of cable-driven continuum robots (CCR).•Determination of contact location from the Lagrange multipliers.•Estimation of contact forces using virtual work principle and the developed kinematics framework.•Validation of numerically obtained profile and contact forces with experiments on a 3D printed CCR.•Extension to profile estimation in 3D.

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关键词

Continuum robot,Cable driven,Tendon driven,Kinematics,Contact force estimation

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