Workspace Boundary Estimation for Soft Manipulators Using a Continuation Approach

Considering a soft manipulator configuration, controlled via installed bounded actuators, this paper addresses the end-effector workspace estimation problem for such a soft robot. For this, the Discrete Cosserat method is adopted to deduce the mathematical model of soft manipulators, based on which...

Full description

Saved in:
Bibliographic Details
Published inIEEE robotics and automation letters Vol. 6; no. 4; pp. 7169 - 7176
Main Authors Amehri, Walid, Zheng, Gang, Kruszewski, Alexandre
Format Journal Article
LanguageEnglish
Published Piscataway IEEE 01.10.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Actuators
bifurcation theory
Bifurcations
Computer Science
Configurations
constrained optimization
Continuation methods
End effectors
Estimation
Manipulators
Mathematical model
Mathematical models
Robotics
Robots
Soft robotics
Tangents
Tendons
Workspace
workspace boundary
Online AccessGet full text

Cover

More Information
Summary:Considering a soft manipulator configuration, controlled via installed bounded actuators, this paper addresses the end-effector workspace estimation problem for such a soft robot. For this, the Discrete Cosserat method is adopted to deduce the mathematical model of soft manipulators, based on which a continuation method that accounts for simple and multiple bifurcation points to solution curves is developed to map its workspace boundaries. Difficulties encountered in calculating tangents at simple and multiple bifurcation points are studied, and an efficient solution is provided. Numerical simulations applied to planar and spatial soft manipulator configurations are presented to emphasize the validity of the proposed methodology.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2021.3097662