Visual Servoing Control of Concentric-tube Robot with Jacobian Matrix Estimation

Yang，Xing1,2,3; Cen，Guagndu1,2,3; Zhang，Chao1,2,3; Wang，Jiaole1,2,3; Song，Shuang1,2,3; Meng，Max Q.H.1,2,3

10.1109/ROBIO54168.2021.9739571

2021

978-1-6654-0536-2

2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

1460-1466

27-31 Dec. 2021

Sanya, China

A practical CTR kinematics model must consider torsion, shear, friction, interactive force and nonlinear constitutive behavior, which makes the model extremely complicated and computationally expensive. This paper proposes a model-free and uncalibrated approach to conduct eye-in-hand visual servoing (EiH-VS) for concentric-tube robots (CTRs) in minimally-invasive surgery. An adaptive controller is designed for fast convergence. We propose to numerically calculate an image Jacobian to map the image deviations to robot joint variables. The image Jacobian is online estimated based on unscented Kalman filter (UKF) without the prior knowledge of CTR kinematic model or hand-eye calibration. A customized observation function is constructed to describe the mapping relationship between state and measurement vectors. The results of simulations and experiments validate the efficiency and superiority of the proposed methods.

Adaptive visual servoing controller Concentric-tube robots Model-free and uncalibration Unscented Kalman filter

第一 ; 通讯

英语

EI

Basic and Applied Basic Research Foundation of Guangdong Province[2021A1515011964];

20221611977389

Jacobian matrices ; Kalman filters ; Kinematics ; Robotics ; Robots

Robotics:731.5 ; Algebra:921.1 ; Mechanics:931.1

2-s2.0-85128181836

Scopus

1.Southern University of Science and Technology,Department of Electronic and Electrical Engineering,Shenzhen,China
2.Department of Electronic and Electrical Engineering,Chinese University of Hong Kong,Hong Kong,Hong Kong
3.Shenzhen Research Institute,Chinese University of Hong Kong,Shenzhen,China

Yang，Xing,Cen，Guagndu,Zhang，Chao,et al. Visual Servoing Control of Concentric-tube Robot with Jacobian Matrix Estimation[C],2021:1460-1466.