Kinematic Transformations for Remotely-Actuated Planar Continuum Robots
نویسندگان
چکیده
I n this work, we consider a class of robotic manipulators generally termed “hyper-redundant”. Spec<fically, we seek to examine some 0.f the kinematic properties of ‘%ontinuum” hyper-redundant robots. Unlike the case with rigidlink’robots, there is n o commonly accepted formula ,for describing continuum robot kinematics. Although these manipulators are continuously flexible, they are actuated with a ,finite number of actuators. In this paper, we discuss two possible options ,for mapping desired infinitedimensional robot shapes to the ,finite-dimensional actuator space, using ‘hatural” and “wavelet ” decompositions. W e compare and contrast these kinematic descriptions, illustrating how the wavelet decomposition can simplify the inverse kinematics f o r redundant planar continuum robots.
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