
Publications
2020 |
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![]() | Nuelle, Kathrin; Sterneck, Tim; Lilge, Sven; Xiong, Dhezu; Burgner-Kahrs, Jessica; Ortmaier, Tobias Modeling, Calibration, and Evaluation of a Planar Parallel Continuum Robot based on Tendon Actuation Journal Article IEEE Robotics & Automation Letter, 5 (4), pp. 5811 - 5818, 2020. Abstract | Links | BibTeX | Tags: calibration, control, design, modeling, parallel continuum robot, tendon actuated, tendon-driven continuum robots @article{Nuelle2020, title = {Modeling, Calibration, and Evaluation of a Planar Parallel Continuum Robot based on Tendon Actuation}, author = {Kathrin Nuelle and Tim Sterneck and Sven Lilge and Dhezu Xiong and Jessica Burgner-Kahrs and Tobias Ortmaier}, doi = {10.1109/LRA.2020.3010213}, year = {2020}, date = {2020-07-17}, journal = {IEEE Robotics & Automation Letter}, volume = {5}, number = {4}, pages = {5811 - 5818}, abstract = {In this work, a novel planar parallel continuum robot (PCR) is introduced, consisting of three kinematic chains that are coupled at a triangular end-effector platform and include tendon-actuated continuum segments. The kinematics of the resulting structure are derived by adapting the descriptions for conventional planar parallel manipulators to include constant curvature bending of the utilized continuous segments. To account for friction and non-linear material effects, a data-driven model is used to relate tendon displacements and curvature of the utilized continuum segments. A calibration of the derived kinematic model is conducted to specifically represent the constructed prototype. This includes the calibration of geometric parameters for each kinematic chain and for the end-effector platform. During evaluation, positioning repeatability of 1.0% in relation to one continuum segment length of the robot, and positioning accuracy of 1.4%, are achieved. These results are comparable to commonly used kineto-static modeling approaches for PCR. The presented model achieves high path accuracies regarding the robot's end-effector pose in an open-loop control scenario.}, keywords = {calibration, control, design, modeling, parallel continuum robot, tendon actuated, tendon-driven continuum robots}, pubstate = {published}, tppubtype = {article} } In this work, a novel planar parallel continuum robot (PCR) is introduced, consisting of three kinematic chains that are coupled at a triangular end-effector platform and include tendon-actuated continuum segments. The kinematics of the resulting structure are derived by adapting the descriptions for conventional planar parallel manipulators to include constant curvature bending of the utilized continuous segments. To account for friction and non-linear material effects, a data-driven model is used to relate tendon displacements and curvature of the utilized continuum segments. A calibration of the derived kinematic model is conducted to specifically represent the constructed prototype. This includes the calibration of geometric parameters for each kinematic chain and for the end-effector platform. During evaluation, positioning repeatability of 1.0% in relation to one continuum segment length of the robot, and positioning accuracy of 1.4%, are achieved. These results are comparable to commonly used kineto-static modeling approaches for PCR. The presented model achieves high path accuracies regarding the robot's end-effector pose in an open-loop control scenario. |
![]() | Modes, Vincent; Burgner-Kahrs, Jessica Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes Journal Article IEEE Robotics and Automation Letters, 5 (1), pp. 103–110, 2020. Links | BibTeX | Tags: Accuracy, calibration, concentric tube continuum robot, continuum robot @article{Modes2020, title = {Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes}, author = {Vincent Modes and Jessica Burgner-Kahrs}, doi = {10.1109/LRA.2019.2946060}, year = {2020}, date = {2020-01-01}, journal = {IEEE Robotics and Automation Letters}, volume = {5}, number = {1}, pages = {103--110}, keywords = {Accuracy, calibration, concentric tube continuum robot, continuum robot}, pubstate = {published}, tppubtype = {article} } |
2019 |
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![]() | Grassmann, Reinhard M; Burgner-Kahrs, Jessica Adjustment Device for Joint Level Calibration of Continuum Robots Inproceedings Workshop on Opportunities and Challenges of Soft Robotics across Different Length Scales, IEEE International Conference on Robotics and Automation, 2019. BibTeX | Tags: Accuracy, calibration, continuum robot @inproceedings{Grassmann2019c, title = {Adjustment Device for Joint Level Calibration of Continuum Robots}, author = {Reinhard M Grassmann and Jessica Burgner-Kahrs}, year = {2019}, date = {2019-05-20}, booktitle = {Workshop on Opportunities and Challenges of Soft Robotics across Different Length Scales, IEEE International Conference on Robotics and Automation}, keywords = {Accuracy, calibration, continuum robot}, pubstate = {published}, tppubtype = {inproceedings} } |
2010 |
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![]() | Burgner, Jessica Robot Assisted Laser Osteotomy PhD Thesis Karlsruhe Institute of Technology, 2010, ISBN: 978-3-866-44497-3. Abstract | Links | BibTeX | Tags: Accuracy, calibration, image-guided surgery, medical robotics, minimally-invasive surgery, Surgery, trajectory planning @phdthesis{Burgner2010a, title = {Robot Assisted Laser Osteotomy}, author = {Jessica Burgner}, url = {https://www.ksp.kit.edu/9783866444973}, doi = {10.5445/KSP/1000016594}, isbn = {978-3-866-44497-3}, year = {2010}, date = {2010-01-28}, publisher = {KIT Scientific Publishing, Dissertation}, school = {Karlsruhe Institute of Technology}, abstract = {In the scope of this thesis world's first robot system was developed, which facilitates osteotomy using laser in arbitrary geometries with an overall accuracy below 0.5mm. Methods of computer and robot assisted surgery were reconsidered and composed to a workflow. Adequate calibration and registration methods are proposed. Further a methodology for transferring geometrically defined cutting trajectories into pulse sequences and optimized execution plans is developed.}, keywords = {Accuracy, calibration, image-guided surgery, medical robotics, minimally-invasive surgery, Surgery, trajectory planning}, pubstate = {published}, tppubtype = {phdthesis} } In the scope of this thesis world's first robot system was developed, which facilitates osteotomy using laser in arbitrary geometries with an overall accuracy below 0.5mm. Methods of computer and robot assisted surgery were reconsidered and composed to a workflow. Adequate calibration and registration methods are proposed. Further a methodology for transferring geometrically defined cutting trajectories into pulse sequences and optimized execution plans is developed. |