Towards In Situ Backlash Estimation of Continuum Robots Using an Endoscopic Camera
Thibault Poignonec, Philippe Zanne, Benoît Rosa, Florent Nageotte
Abstract
Accurate control of continuum robots requires handling non-linear behaviors between actuators and distal effectors. In this letter, we develop a method for estimating the non-linearities of tendon-driven degrees of freedom of flexible endoscopic systems by using a distal endoscopic camera and encoders at the proximal side. The proposed approach separates the non-linearities in two parts, namely a pure non uniform backlash and a non-linear function. The backlash is estimated without relying on any model, while the non-linear function is obtained by a pose estimation process. Experiments realized on a robotic flexible endoscopy platform (STRAS) show the validity of the approach for estimating in situ the quasi-static behavior of the robot and for compensating the non-linearities of the motion transmission.
BibTeX
@inproceedings{ral2020_towardsinsitubac,
title = {Towards In Situ Backlash Estimation of Continuum Robots Using an Endoscopic Camera},
author = {Thibault Poignonec and Philippe Zanne and Benoît Rosa and Florent Nageotte},
booktitle = {RA-L 2020},
year = {2020}
}