Large deflection 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-deflection dynamics for continuum robots...

Full description

Saved in:
Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2003-06, Vol.8 (2), p.299-307
Main Authors: Gravagne, I.A., Rahn, C.D., Walker, I.D.
Format: Article
Language:English
Subjects:
Aerodynamics
Animals
Applied sciences
Computer science
control theory
systems
Continuums
Control theory. Systems
Differential equations
Dynamic tests
Dynamics
Effectiveness
Exact sciences and technology
Fundamental areas of phenomenology (including applications)
Legged locomotion
Manipulator dynamics
Manipulators
Path planning
Physics
Robot arms
Robot control
Robot kinematics
Robotics
Robots
Solid mechanics
Spine
Structural and continuum mechanics
Trunks
Vibration control
Vibration, mechanical wave, dynamic stability (aeroelasticity, vibration control...)
Vibrations and mechanical waves
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary: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.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2003.812829