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Setpoint regulation of continuum robots using a fixed camera

Published online by Cambridge University Press:  01 September 2007

V. K. Chitrakaran ,
A. Behal ,
D. M. Dawson  and
I. D. Walker
V. K. Chitrakaran*
Affiliation:
Electrical and Computer Engineering, Clemson University, Clemson, SC 29634-0915, USA.
A. Behal
Affiliation:
SEECS and NanoScience Technical Center, University of Central Florida, Orlando, FL 32826, USA.
D. M. Dawson
Affiliation:
Electrical and Computer Engineering, Clemson University, Clemson, SC 29634-0915, USA.
I. D. Walker
Affiliation:
Electrical and Computer Engineering, Clemson University, Clemson, SC 29634-0915, USA.
*
*Corresponding author. Email: [email protected]
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Summary

In this paper, we investigate the problem of measuring the shape of a continuum robot manipulator using visual information from a fixed camera. Specifically, we capture the motion of a set of fictitious planes, each formed by four or more feature points, defined at various strategic locations along the body of the robot. Then, utilizing expressions for the robot forward kinematics as well as the decomposition of a homography relating a reference image of the robot to the actual robot image, we obtain the three-dimensional shape information continuously. We then use this information to demonstrate the development of a kinematic controller to regulate the manipulator end-effector to a constant desired position and orientation.

Keywords

Continuum robotsComputer visionShape estimation
Type
Article
Information
Robotica , Volume 25 , Issue 5 , September 2007 , pp. 581 - 586
Copyright
Copyright © Cambridge University Press 2007

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