Force/Velocity Manipulability Analysis for 3D Continuum Robots

Seyedmohsen Khadem, Lyndon Da Cruz, Christos Bergeles

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

The enhanced dexterity and manipulability offered by continuum manipulators makes them the robots of choice for complex procedures inside the human body. However, without tailored analytical tools to evaluate their manipulability, many capabilities of continuum robots such as safe and effective manipulation will remain largely inaccessible. This paper presents a quantifiable measure for analysing force/velocity manipulability of continuum robots. We expand classical measures of manipulability for rigid robots to introduce three types of manipulability indices to continuum robots, namely, velocity, compliance, and unified force-velocity manipulability. We provide a specific case study using the proposed method to analyse the force/velocity manipulability for a concentric-tube robot. We investigate the application of the manipulability measures to compare performance of continuum robots in terms of compliance and force-velocity manipulability. The proposed manipulability measures enable future research on design and optimal path planning for continuum robots.
Original languageEnglish
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Place of PublicationMadrid, Spain
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages7
ISBN (Electronic)978-1-5386-8094-0
ISBN (Print)978-1-5386-8095-7
Publication statusPublished - 7 Jan 2019
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems - Madrid, Spain
Duration: 1 Oct 20185 Oct 2018

Publication series

ISSN (Print)2153-0858
ISSN (Electronic)2153-0866


Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS 2018
Internet address


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