KINEMATICS, ERROR ANALYSIS, AND COMPENSATION OF A HIGH PRECISION TENDON-BASED MRI-COMPATIBLE ROBOT

Shan Jiang, Fude Sun, Jinlong Lou, and Zhiyong Yang

References

  1. [1] I. Bricault, N. Zemiti, E. Jouniaux, C. Fouard, E. Taillant, F. Dorandeu, and P. Cinquin, Light puncture robot for CT and MRI interventions, IEEE Engineering in Medicine and Biology Magazine, 27(3), 2008, 42–50.
  2. [2] B. Yang, U.X. Tan, A.B. McMillan, R. Gullapalli, and J.P. Desai, Design and control of a 1-DOF MRI-compatible pneumatically actuated robot with long transmission lines, IEEE/ASME Transactions on Mechatronics, 16(6), 2011, 1040–1048.
  3. [3] L.M. DeVita, J.S. Plante, and S. Dubowsky, The design of high precision parallel mechanisms using binary actuation and elastic averaging: With application to MRI cancer treatment, Proc. 2007 IFToMM World Congress on Machines and Mechanisms, Besan¸con, France, 2007, 17–21.
  4. [4] C. Raoufi, P. Ben-Tzvi, A.A. Goldenberg, and W. Kucharczyk, A MR-compatible tele-robotic system for MRI-guided intervention: System overview and mechanical design, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007. IROS 2007, San Diego, USA, 2007, 1795–1800.
  5. [5] A. Krieger, R.C. Susil, C. Menard, J.A. Coleman, G. Fichtinger, E. Atalar, and L.L. Whitcomb, Design of a novel MRI compatible manipulator for image guided prostate interventions, IEEE Transactions on Biomedical Engineering, 52(2), 2005, 306–313.
  6. [6] R. Gassert, R. Moser, E. Burdet, and H. Bleuler, MRI/fMRIcompatible robotic system with force feedback for interaction with human motion, IEEE/ASME Transactions on Mechatronics, 11(2), 2006, 216–224.
  7. [7] A. Yamamoto, K. Ichiyanagi, T. Higuchi, H. Imamizu, R. Gassert, M. Ingold, L. Sache, and H. Bleuler, Evaluation of MR-compatibility of electrostatic linear motor, Proc. 2005 IEEE International Conference on Robotics and Automation, 2005. ICRA 2005, Barcelona, Spain, 2005, 3658–3663.
  8. [8] J. Vogan, A. Wingert, J.S. Plante, S. Dubowsky, M. Hafez, D. Kacher, and F. Jolesz, Manipulation in MRI devices using electrostrictive polymer actuators: With an application to reconfigurable imaging coils, Proc. 2004 IEEE International Conference on Robotics and Automation, 2004. ICRA’04, New Orleans, USA, Vol. 3, 2004, 2498–2504.
  9. [9] M. Ceccarelli, A new 3 DOF spatial parallel mechanism, Mechanism and Machine Theory, 32(8), 1997, 895–902.
  10. [10] J.P. Merlet, Parallel robots, (Berlin and Heidelberg, Germany: Springer, 2006).
  11. [11] G. Carbone, R. Nakadate, J. Solis, M. Ceccarelli, A. Takanishi, E. Minagawa, M. Sugawara, and K. Niki, Workspace analysis 342 and design improvement of a carotid flow measurement system, Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine, 224(11), 2010, 1311–1323.
  12. [12] I.A. Bonev, J. Ryu, A new approach to orientation workspace analysis of 6-DOF parallel manipulators, Mechanism and Machine Theory, 36(1), 2001, 15–28.
  13. [13] J. Pusey, A. Fattah, S. Agrawal, and E. Messina, Design and workspace analysis of a 6–6 cable-suspended parallel robot, Mechanism and Machine Theory, 39(7), 2004, 761–778.
  14. [14] A.J. Madhani, G. Niemeyer, and J.K. Salisbury Jr, The black falcon: A teleoperated surgical instrument for minimally invasive surgery, Proc. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, Victoria, Canada, Vol. 2, 1998, 936–944.
  15. [15] M.O. Schurr, G. Buess, B. Neisius, and U. Voges, Robotics and telemanipulation technologies for endoscopic surgery, Surgical Endoscopy, 14(4), 2000, 375–381.
  16. [16] M.J.H. Lum, D. Trimble, J. Rosen, K. Fodero, H.H. King, G. Sankaranarayanan, J. Dosher, R. Leuschke, B.M. Anderson, M.N. Sinanan, and B. Hannaford, Multidisciplinary approach for developing a new minimally invasive surgical robotic system, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006, Pisa, Italy, 2006, 841–846.
  17. [17] Z. Nawrat and P. Kostka, Polish cardio-robot ‘Robin Heart’. System description and technical evaluation, The International Journal of Medical Robotics and Computer Assisted Surgery, 2(1), 2006, 36–44.
  18. [18] M.C. Cavusoglu, W. Williams, F. Tendick, and S.S. Sastry, Robotics for telesurgery: Second generation Berkeley/UCSF laparoscopic telesurgical workstation and looking towards the future applications, Industrial Robot: An International Journal, 30(1), 2003, 22–29.
  19. [19] S.Q. Fang, D. Franitza, M. Torlo, F. Bekes, and M. Hiller, Motion control of a tendon-based parallel manipulator using optimal tension distribution, IEEE/ASME Transactions on Mechatronics, 9(3), 2004, 561–568.
  20. [20] L. Mikelsons, T. Bruckmann, M. Hiller, and D. Schramm, A real-time capable force calculation algorithm for redundant tendon-based parallel manipulators, IEEE International Conference on Robotics and Automation, 2008. ICRA 2008, Pasadena, USA, 2008, 3869–3874.
  21. [21] S. Marcheschi, A. Frisoli, C.A. Avizzano, and M. Bergamasco, A method for modeling and control complex tendon transmissions in haptic interfaces, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. ICRA 2005, New Orleans, USA, 2005, 1773–1778.
  22. [22] A.C. Okafor and Y.M. Ertekin, Derivation of machine tool error models and error compensation procedure for three axes vertical machining center using rigid body kinematics, International Journal of Machine Tools & Manufacture, 40, 2000, 1199–1213.
  23. [23] Z. Du, S. Zhang, and M. Hong, Development of a multi-step measuring method for motion accuracy of NC machine tools based on cross grid encoder, International Journal of Machine Tools & Manufacture, 50, 2010, 270–280.
  24. [24] F. Aghili, Adaptive control of manipulators forming closed kinematic chain with inaccurate kinematic model, IEEE/ASME Transactions on Mechatronics, 18(5), 2013, 79–89.
  25. [25] Z.C. Jun, Q.S. Qin, and P.E. Bao, The study of the multibody system theory on basis of CNC milling machine error, Advanced Materials Research, 383–390, 2001, 1304–1309.
  26. [26] R.Y. Tsai and R.K. Lenz, A new technique for fully autonomous and efficient 3D robotics hand/eye calibration, IEEE Transactions on Robotics and Automation, 5(3), 1989, 345–358.
  27. [27] H. Zhuang, O. Masory, and J. Yan, Calibration of Stewart platforms and other parallel manipulators by minimizing inverse kinematic residuals, Journal of Robotic Systems, 15(7), 1998, 395–405.
  28. [28] A. Joubair, M. Slamani, and I.A. Bonev, A novel XY-Theta precision table and a geometric procedure for its kinematic calibration, Robotics and Computer-Integrated Manufacturing, 28, 2012, 57–65.
  29. [29] J. Holtz and J. Quan, Sensorless vector control of induction motors at very low speed using a nonlinear inverter model and parameter identification, IEEE Transactions on Industry Applications 38(4), 2002, 1087–1095.
  30. [30] C.Y. Cheng and J.C. Renn, Improving the steady-state response of full-digital pneumatic motor speed control using two-step current control scheme, International Symposium on Computer, Consumer and Control, Taichung, Taiwan, 2012, 573–576.
  31. [31] G.S. Fischer, J. Iordachita, S.P. DiMaio, and G. Fichtinger, Design of a robot for transperineal prostate needle placement in MRI scanner, 2006 IEEE International Conference on Mechatronics, Budapest, Hungary, 2006, 592–597.
  32. [32] N. Hungr, J. Troccaz, N. Zemiti, and N. Tripodi, Design of an ultrasound-guided robotic brachytherapy needle-insertion system, Engineering in Medicine and Biology Society, 2009. EMBC 2009. Annual International Conference of the IEEE, Minnesota, USA, 2009, 250–253.
  33. [33] M. Kaneko, M. Wada, H. Maekawa, and K. Tanie, A new consideration on tendon-tension control system of robot hands, Proc. 1991 IEEE International Conference on Robotics and Automation, 1991, Sacramento, USA, 1991, 1028–1033.
  34. [34] G. Carbone, Stiffness analysis and experimental validation of robotic systems, Frontiers of Mechanical Engineering, 6(2), 2011, 182–196.
  35. [35] W. Khalil and E. Dombre, Modeling, identification and control of robots, (Oxford, UK: Butterworth-Heinemann, 2004).
  36. [36] J.Y.S. Luh, M.W. Walker, and R.P.C. Paul, On-line computational scheme for mechanical manipulators, Journal of Dynamic Systems, Measurement, and Control, 102(2), 1980, 69–76.
  37. [37] X. Yang, L. Wu, J. Li, and K. Chen, A minimal kinematic model for serial robot calibration using POE formula, Robotics and Computer-Integrated Manufacturing, 30(3), 2014, 326–334.

Important Links:

Go Back