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Kinematic Model Analysis and ROS Control of Cable Driven Continuous Robot Manipulator

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AETA 2019 - Recent Advances in Electrical Engineering and Related Sciences: Theory and Application (AETA 2019)

Abstract

This paper describes the developed of cable continues redundant manipulator and its kinematic model analysis. The goal is to determine the accuracy of the experimental prototype with the constant curvature kinematic model. The experimental validation of the constant curvature kinematic model is evaluated to establish a relation between the mathematical model and continuum robot, and its feasibility of applying for any type of continuous redundant structure by computing the end effector trajectory based on the displacement of passive cables located along the structure. The continuous redundant prototype robot is composed by 2 segments with 7 modules sections powered by 6 driven cables where each segment is controlled with 3 lineal motors. The length of the segment is desired but it is also allows to add modular sections and connect them like serial chain. The radius of concave and/or convex curvature allows the robot manipulator to follow different trajectories and displacements in their workspace. The paper also describes the relevant components and the position feedback control implemented via ROS.

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Acknowledgements

This work is supported by a grant from the El Bosque University and the Research Vice-rectory with the project number PCI-2017-8832. The authors also wish to thank the Electronic Engineering and Bioengineering departments of El Bosque University for all the support received.

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Correspondence to Hernando Leon-Rodriguez .

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Leon-Rodriguez, H., Moncada, Y., Mosqueda, S., Murrugarra, C., Canu, M. (2021). Kinematic Model Analysis and ROS Control of Cable Driven Continuous Robot Manipulator. In: Cortes Tobar, D., Hoang Duy, V., Trong Dao, T. (eds) AETA 2019 - Recent Advances in Electrical Engineering and Related Sciences: Theory and Application. AETA 2019. Lecture Notes in Electrical Engineering, vol 685. Springer, Cham. https://doi.org/10.1007/978-3-030-53021-1_39

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