Model-less control of continuum manipulators for robot-assisted cardiac ablation
- Continuum manipulators are designed to operate in constrained environments that are often unknown or unsensed, relying on body compliance to conform to obstacles. The interaction mechanics between the compliant body and unknown environment present significant challenges for traditional robot control technique based on modeling these interactions exactly. This thesis describes a novel model-less approach (i.e. no knowledge of robot mechanics or kinematics) to control continuum manipulators in unknown and constrained environments. In this approach, the controller learns the continuum manipulator Jacobians in real-time and adapts to constraints in the environment autonomously and in a safe manner. Also described is a hybrid position/force scheme, which is useful when interacting with the environment using the end-effector, where tip-constraints can cause the manipulator Jacobian estimates to become ill-conditioned. Under these control strategies, continuum manipulators can safely and effectively interact with the environment, even when these interactions present themselves as arbitrary and unknown constraints. Finally, the model-less control scheme is adapted for operating in a noisy, dynamically disturbed, beating environment. A cardiac ablation is automated to show proof-of-concept autonomous implementation of a cardiac catheterization procedure.
|Type of resource
|electronic; electronic resource; remote
|1 online resource.
|Yip, Michael Chak Luen
|Stanford University, Department of Bioengineering.
|Statement of responsibility
|Michael Chak Luen Yip.
|Submitted to the Department of Bioengineering.
|Thesis (Ph.D.)--Stanford University, 2015.
- © 2015 by Michael Chak Luen Yip
- This work is licensed under a Creative Commons Attribution 3.0 Unported license (CC BY).
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