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Large deflection dynamics and control for planar continuum robots

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3 Author(s)
Gravagne, I.A. ; Dept. of Eng., Baylor Univ., Waco, TX, USA ; Rahn, C.D. ; Walker, I.D.

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 )