DocumentCode :
716690
Title :
Domain decomposition approach for FEM quasistatic modeling and control of Continuum Robots with rigid vertebras
Author :
Bosman, Julien ; Bieze, Thor Morales ; Lakhal, Othman ; Sanz, Mario ; Merzouki, Rochdi ; Duriez, Christian
Author_Institution :
CRISTAL Lab., Univ. of Lille, Lille, France
fYear :
2015
fDate :
26-30 May 2015
Firstpage :
4373
Lastpage :
4378
Abstract :
This paper presents a development of a new method dedicated to the modeling and control of Continuum Robots, based on the Finite Element Method (FEM) using quasi-static assumption. The modeling relies on a discretization of the continuum robots using 6 DoFs Frames along the structure of the robot that is compatible with the modeling of a sequence of rigid vertebras. When the robot´s structure relies on rods with constant sections, internal forces are computed with beam elements, placed between two adjacent frames, that applies forces and torques. In the opposite, when the robot is composed of a complex shape deformable backbone separated by the rigid vertebras, a domain decomposition strategy is used to obtain an equivalent stiffness between two vertebras using volumetric FEM. In both cases, for solving the whole robot model and inverting it in real-time, the numerical method takes advantage of the serial nature of continuum robots, using a Block-Tri-Diagonal solver. The factor of improvement in the computation time reaches several order of magnitude compared to a classical FEM model, while keeping a good precision. The method has also been implemented and tested on a real pneumatic CBHA trunk designed by Festo Robotics and some complementarity examples have been generated numerically.
Keywords :
computational complexity; finite element analysis; robots; 6 DoF frames; Festo robotics; beam elements; block-tridiagonal solver; complex shape deformable backbone; computation time; constant sections; continuum robots; domain decomposition approach; equivalent stiffness; finite element method; internal forces; numerical method; pneumatic CBHA trunk; quasistatic modeling; real-time; rigid vertebras; volumetric FEM; Actuators; Computational modeling; Deformable models; Finite element analysis; Pneumatic systems; Robots; Tendons;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2015 IEEE International Conference on
Conference_Location :
Seattle, WA
Type :
conf
DOI :
10.1109/ICRA.2015.7139803
Filename :
7139803
Link To Document :
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