Large deflection dynamics, and control for planar continuum robots

This paper focuses. on a claw of robot manipulators termed "continuum", robots-robots that exhibit behavior similar to I 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.