Date of Award
8-2016
Document Type
Thesis
Degree Name
Master of Science (MS)
Legacy Department
Electrical Engineering
Committee Member
Dr. Ian Walker, Committee Chair
Committee Member
Dr. Apoorva Kapadia
Committee Member
Dr. Keith Green
Abstract
This thesis presents a novel teleoperation interface for continuum robots. Previous tele-operation interface methods for continuum robots did not include a natural mapping due to a degree-of-freedom mismatch, using non continuum input devices with fewer degrees-of-freedom than the robot that was being controlled. The approach introduced in this thesis involves creating a 3D model of the robot using graphics libraries and a continuum kinematic model, then manipulating that graphical 3D model on screen to directly control the continuum robot. This thesis details the development of both the model and software. The teleoperation interface was developed specifi-cally for a nine degree-of-freedom pneumatically-driven extensible continuum robot (OctArm), but it applies to any continuum robot with an arbitrary number of sections due to its modular design. Experiments using the aforementioned system on two different continuum robots are reported and areas for future work and improvement are detailed.
Recommended Citation
Scott, Ryan Matthew, "Continuum Surrogate Software Interface for Teleoperation of Continuum Robots" (2016). All Theses. 2439.
https://open.clemson.edu/all_theses/2439