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    Towards A Generic Simulator For Continuum Robot Control: October 2018

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    This document describes a generic simulator for continuum robot control that was developed primarily using JavaScript. The simulator allows users to add new deformable robot models through object-oriented programming. It provides a graphical user interface for controlling virtual robots and generating camera images. The simulator is intended to help with tasks like robot mechanism design optimization, advanced control development, and simulation of complex procedures by integrating anatomical models.

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    Towards A Generic Simulator For Continuum Robot Control: October 2018

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    Akshya
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    This document describes a generic simulator for continuum robot control that was developed primarily using JavaScript. The simulator allows users to add new deformable robot models through object-oriented programming. It provides a graphical user interface for controlling virtual robots and generating camera images. The simulator is intended to help with tasks like robot mechanism design optimization, advanced control development, and simulation of complex procedures by integrating anatomical models.

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    This document describes a generic simulator for continuum robot control that was developed primarily using JavaScript. The simulator allows users to add new deformable robot models through object-oriented programming. It provides a graphical user interface for controlling virtual robots and generating camera images. The simulator is intended to help with tasks like robot mechanism design optimization, advanced control development, and simulation of complex procedures by integrating anatomical models.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    348 views3 pages

    Towards A Generic Simulator For Continuum Robot Control: October 2018

    Uploaded by

    Akshya
    This document describes a generic simulator for continuum robot control that was developed primarily using JavaScript. The simulator allows users to add new deformable robot models through object-oriented programming. It provides a graphical user interface for controlling virtual robots and generating camera images. The simulator is intended to help with tasks like robot mechanism design optimization, advanced control development, and simulation of complex procedures by integrating anatomical models.

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    Towards a Generic Simulator for Continuum Robot Control

    Conference Paper · October 2018

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    Andrey V. Kudryavtsev Kanty Rabenorosoa

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    Towards a Generic Simulator for Continuum Robot Control*
    Andrey V. Kudryavtsev1 , Kanty Rabenorosoa1 , and Brahim Tamadazte1

    I. INTRODUCTION
    Nowadays, it became extremely difficult to deny the
    importance of continuum robotics, especially in medical
    applications [1]. In contrast to classical industrial robots, that
    are typically characterized by a series of discrete rigid links,
    continuum robots (CR) have a particular structure going from
    robotic arm inspired by elephant trunk to concentric tube
    robots (CTR). However, there is a common property which
    defines them as an actuated mechanism whose backbone
    forms curves with continuous tangent vectors. For developing
    advanced control and achieving complex tasks with CR,
    a generic simulator would be helpful. Indeed, building a
    realistic experimental platform containing continuum robots
    may be a challenging task both in terms of time and cost. One
    of the most popular CR for medical applications is CTR that
    is obtained by assembling elementary precurved tubes with
    different diameters in telescopic manner. Generally, these
    tubes are made of Nickel Titanium alloy but more recently
    3D printed ones were introduced [2]. The tube assembly
    constitutes the effective part of the CTR and in order to
    get a functional robot, it is necessary to have an actuation
    unit including angular and linear stages. Various challenges
    Fig. 1. Main window screenshot of the simulator displaying: a 3D scene
    remain to be tackled to obtain lightweight, compact, and with CTR, target object, and an image coming from the virtual camera
    high degrees of freedom actuation unit. Therefore, the core installed on the end-effector.
    of this paper is the development of a generic simulation
    platform for CR, especially a CTR. Comparing to widely-
    used simulation platforms such as V-Rep or Gazebo, our possible to develop stand-alone desktop applications thanks
    simulator has an important advantage: it is possible, and easy, to two following elements:
    to add new deformable robots. Actually, the simulator can be • runtime environment called Node.js which allows exe-
    used, for instance, to optimize the CTR mechanism design, cuting JS code without a browser;
    to develop and validate advanced controls by using various • framework Electron that made possible building desk-
    feedbacks, and to achieve complex tasks by integrating top applications using web-development technology
    anatomical models, etc. In the reminder of this paper, at first (HTML, CSS, and JS).
    the software architecture is presented. Secondly, we discuss The fact of using an object-oriented structure adds very
    the capabilities of the simulator from the user point of view, interesting features to our simulator. In particular, in order
    i.e., what a person with no background in programming can to add a new robot, one has only to create a new class
    achieve with it. containing the robot forward kinematics model.
    II. SOFTWARE ARCHITECTURE III. USER-SIMULATOR INTERACTION
    The simulator presented here is written mostly in After the application starts, a user will see the main win-
    JavaScript (JS). JS is a web-oriented programming language dow displayed in Fig. 1. It contains the following elements:
    supporting object-oriented paradigm. Inspite of the fact that
    • 3D scene containing CTR and a target object (white box
    JS is generally used on web-pages, since 2009 it became
    with four black dots) in front of it.
    *This work has been supported by the Labex ACTION project (contract • a menu allowing to change some parameters of the
    ”ANR-11-LABX-0001-01”) and ANR NEMRO (contract ”ANR-14-CE17- scene. In the given example, one can modify joint vari-
    0013”). ables (mouse-based control) associated with the CTR;
    1 Authors are with FEMTO-ST Institute, Univ.
    Bourgogne Franche-Comté, CNRS, Besançon, France. • controls of server parameters defining the IP address and
    [email protected] (corresponding author) port number allowing the communication of simulator
    TABLE I
    E XAMPLES OF COMMANDS THAT CAN BE SENT TO THE SIMULATOR .

    Command Target
    SETJOINTVEL,0,0,0,0,0,0.001
    SETJOINTPOSREL,0,0,0,0,0,0.001
    robot
    GETJOINTPOS
    STOP
    GETIMAGE
    camera
    GETCALIBMAT

    with the external world (external controller, software,


    etc.) via UDP communication;
    • buttons for scenes management (loading a new scene or
    Fig. 2. Simulating a scene containing a 3D face with a nasal cavity, and
    reloading the current one). a CTR. Images on the right generated by the camera located on the robot
    Also, the simulator gives the possibility to place a virtual tip.
    camera either on the robot end-effector or freely in 3D space.
    This gives the possibility to generate a virtual image with
    programming languages: python, MATLAB, etc. It is worth
    known and chosen camera model (e.g., intrinsic parameters).
    noticing, that an adapter for C++ communication is provided
    This last point is of particular interest for simulating vision-
    along with the simulator. This adapter, while acting like a
    based control schemes such as visual servoing [3] or auto-
    UDP client, allows in addition to transform the image coming
    matic intracorporeal navigation [4].
    from simulator directly to OpenCV or ViSP libraries format.
    A. Constructing the Scene C. Example of use
    The 3D scene of the simulator must be defined in advance In this subsection, we present an example of a complete
    by a user and can contain three types of objects. Firstly, simulated scene (Fig. 2). The scene contains a part of human
    it may contain different static objects that are loaded from face as well as the 3D model of nasal cavity. Both objects
    standard 3D-model files such as *.stl, *.obj or *.dae files. were loaded from *.stl files. CTR is placed in a way allowing
    Secondly, it is a robot with its joint values that are directly entering the cavity and performing an internal navigation.
    accessible from the menu in the right-up corner. A scene may In the given example, a CTR model is based on piecewise
    contain several robots. Finally, the third type of components constant curvature model. In addition, a camera is located
    concerns imaging systems such a standard white-light camera on the robot tip which enables online generation of images.
    which allows generating images that can be then acquired This setup can be used for development and testing of various
    using UDP protocol. The whole scene is defined using a visual servoing and/or SLAM algorithms.
    text file in json format1 .
    IV. CONCLUSION
    B. Robot Simulation The goal of this work was to create a simulation environ-
    During simulation, a user has access to two tools allowing ment for continuum robots. Nowadays, it contains already a
    the interaction with the scene. The first one is the menu concentric tube robot build using constant-curvature model.
    that allows some basic manipulations such as changing joint Moreover, thanks to simulator flexibility of adding new
    values, displaying or hiding frames associated with robot robots, one can use the existing pattern to build other robots
    joints, etc. and add them to 3D scene. As user can also acquire the
    The second tool is a UDP protocol. Actually, the simulator image given by the virtual camera in real time, it opens new
    is a UDP server that can send and receive messages from ex- possibilities for testing such algorithms as visual servoing,
    ternal world. Among current possibilities, a user can change SLAM or any other technique based on a visual feedback.
    robot configuration (relative or absolute joint position), apply R EFERENCES
    joint velocities, get the transformation matrix corresponding
    [1] Burgner-Kahrs, J., Rucker, D. C., & Choset, H. (2015). Continuum
    to the tool pose, acquire the image from a virtual camera, robots for medical applications: A survey. IEEE Transactions on
    etc. Some examples of commands are represented in Table I. Robotics, 31(6), 1261-1280.
    There is a variety of ways for sending these UDP messages [2] Morimoto, T. K., & Okamura, A. M. (2016). Design of 3-D Printed
    Concentric Tube Robots. IEEE Trans. Robotics, 32(6), 1419-1430.
    to the simulator. The easiest one is to use a small software [3] Baran Y., Rabenorosoa K., Laurent G.J, Rougeot P., Andreff N.,
    telnet which allows sending UDP messages directly from Tamadazte B., Preliminary results on OCT-based position control of
    terminal. Another way would be to use a telnet equivalent a concentric tube robot, IEEE/RSJ Int. Conf. on Intelligent Robots and
    Systems (IROS), Vancouver, Canada, 2017.
    software with a graphic user interface. Finally, it is always [4] Kudryavtsev, A.V., Chikhaoui, M.T., Liadov, A., Rougeot, P., Spindler,
    possible to establish UDP communication using different F., Rabenorosoa, K., Burgner-Kahrs, J., Tamadazte, B., Andreff, N.
    (2018). Eye-in-Hand Visual Servoing of Concentric Tube Robots. IEEE
    1 for details, see https://github.com/avkudr/visa/wiki/Scene-modeling Robotics and Automation Letters, 3(3), 2315-2321.

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