Large Deflection Dynamics and Control for Planar Continuum Robots
نویسندگان
چکیده
This paper focuses on a class of robot manipulators termed “continuum” robots—robots that exhibit behavior similar to tentacles, trunks, and snakes. In previous work, we studied details of the mechanical design, kinematics, path-planning and small-deflection dynamics for continuum robots such as the Clemson “Tentacle Manipulator.” In this paper, we discuss the dynamics of a planar continuum backbone section, incorporating a large-deflection dynamic model. Based on these dynamics, we formulate a vibration-damping setpoint controller, and include experimental results to illustrate the efficacy of the proposed controller.
منابع مشابه
Large Deßection Dynamics and Control for Planar Continuum Robots∗
This paper focuses on a class of robot manipulators termed continuum robots robots that exhibit behavior similar to tentacles, trunks, and snakes. In previous work, we studied details of the mechanical design, kinematics, path-planning and small-deßection dynamics for continuum robots such as the Clemson Tentacle Manipulator. In this work, we discuss the dynamics of a planar continuum bac...
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