ICRA 2012 Paper Abstract

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Paper TuD03.5

Ramadurai, Srikrishnan (University of Washington), Nia Kosari, Sina (University of Washington), King, H. Hawkeye (University of Washington), Chizeck, Howard (University of Washington), Hannaford, Blake (University of Washington)

Application of Unscented Kalman Filter to a Cable Driven Surgical Robot: A Simulation Study

Scheduled for presentation during the Regular Session "Cable-Driven Mechanisms" (TuD03), Tuesday, May 15, 2012, 17:30−17:45, Meeting Room 3 (Mak'to)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 15, 2018

Keywords Control Architectures and Programming, Tendon/Wire Mechanism

Abstract

Cable driven power transmissions are used in applications such as haptic devices, surgical robots etc. The use of flexible cable based power transmission often causes relative motion between the motor actuator and mechanism joint during operation due to the elasticity of the cable.State-space control methods can be used to improve performance, but may require state estimates. For nonlinear systems, the Unscented Kalman Filter (UKF) provides a computationally efficient way to obtain state estimates. The UKF is applied here to a simulation of a minimially invasive surgical robot, to study the state estimation for a cable driven system with non-linear dynamics. State estimates from the UKF are compared with the known states available from the simulation. These state estimates are also utilized by two different controllers interacting with the simulation to test the UKF performance under closed loop control. We tested the UKF performance with error perturbations in the system model's cable stiffness parameter.

 

 

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