Large deflection dynamics, and control for planar continuum robots

被引：289

作者：

Gravagne, IA ^{[1
]}

Rahn, CD

Walker, ID

机构：

[1] Baylor Univ, Dept Engn, Waco, TX 76798 USA

[2] Penn State Univ, Dept Mech & Nucl Engn, University Pk, PA 16802 USA

[3] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2003年 / 8卷 / 02期

基金：

美国国家科学基金会; 美国国家航空航天局;

关键词：

continumn manipulator; dynamics; flexible robot control; hyper-redundant robot;

D O I：

10.1109/TMECH.2003.812829

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：299 / 307

页数：9