Home > Research > Publications & Outputs > Collaborative Continuum Robots for Remote Engin...

Electronic data


Text available via DOI:

View graph of relations

Collaborative Continuum Robots for Remote Engineering Operations

Research output: Contribution to Journal/MagazineJournal articlepeer-review

Article number4
<mark>Journal publication date</mark>22/12/2022
Issue number1
Number of pages19
Publication StatusPublished
<mark>Original language</mark>English


In situ repair and maintenance of high-value industrial equipment is critical if they are to maintain the ability to continue vital operations. Conventional single-arm continuum robots have been proven numerous times to be successful tools for use in repair operations. However, often more than one arm is needed to ensure successful operation within several scenarios; thus, the collaborative operation of multiple arms is required. Here, we present the design and operating principles of a dual-arm continuum robot system designed to perform critical tasks within industrial settings. Here, presented are the design principle of the robotic system, the optimization-based inverse kinematic calculation of the 6-DoF continuum arms, and the collaborative operation strategy. The collaborative principle and algorithms used have been evaluated by a set of experiments to demonstrate the ability of the system to perform in situ machining operations. With the developed prototype and controller, the average error between planned and real toolpaths can be within 2.5 mm.