Kinematics Modeling of Soft Manipulator Interacting with Environment Using Segmented Variable Curvature Method

• Published in: International journal of control, automation, and systems Vol. 20; no. 1; pp. 255 - 267
• Main Authors: Chen, Ying-Long, Li, Wen-Shuo, Guo, Qiang, Gong, Yong-Jun
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 2022; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Constraint modelling; Contact force; Control; Curvature; Deformation; Engineering; Kinematics; Mechatronics; Regular Papers; Robotics; Segments; 제어계측공학; Bracing; kinematics; segmented variable curvature; soft manipulator; environmental contact

In this paper, a novel kinematics model based on segmented variable curvature (SVC) method is proposed to describe the deformation of soft manipulator under the condition of environmental contact. Firstly, the variable curvature (VC) framework is used to the spatial backbone curve, which is to discr...