Deformation Planning for Robotic Soft Tissue Manipulation

摘要

In this study, a model-based method for planning soft tissue deformation is presented. Robot manipulators that are controlled in position cause boundary displacements that cause the deformable item to be moved. Control points defined on the deformable object converge to the intended positions as a result of the boundaries being manoeuvred. The suggested control is based on a Jacobian transformation between the set of altered point displacements and the control point displacements, which were calculated using a meshless model of the deformable object. RKPM is used in this work since it has been shown to accurately manage significant deformations and doesn’t necessitate re- meshing methods. Simulations demonstrate that a model with a coarse particle grid is capable of generating Jacobian transforms that precisely control a more complex and physically realistic model. The following stage involves doing a physical investigation of a tissue phantom interacting with a dual arm manipulator.