Referenced Items are not available for this document.
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.
Published in:
Mechatronics, IEEE/ASME Transactions on
(Volume:8
,
Issue:
2
)
Date of Publication: June 2003
- Page(s):
- 299 - 307
- ISSN :
- 1083-4435
- INSPEC Accession Number:
- 7666496
- Digital Object Identifier :
- 10.1109/TMECH.2003.812829
- Date of Current Version :
- 20 June 2003
- Issue Date :
- June 2003
- Sponsored by :
- ASME Dynamic Systems and Control Division
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