Asymptotic regulation of a one-section continuum manipulator
نویسنده
چکیده
Continuum manipulators are robotic manipulators built wing one continuous, elastic, and highly deformable %ackbone” instead of multiple rigid links connected by joints. This paper eztends a previous control result for planar continuum robots b y proposing a new asymptotic wnvergence argument for a PD-plw-feedforward controller. The benefit of the asymptotic a w m e n t s is that the backbone bending stifness can be adpatively updated by the controller if it is not known a priori.
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