Three dimensional statics for continuum robotics

This paper introduces a method for computing the shape of a continuously-flexible (continuum) robot in 3-D space which includes gravity loading by applying Cosserat rod theory to a continuum robot. With this theory, the shape of the rod can be determined using force-torque balance equations obtained...

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Bibliographic Details
Published in2009 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 2659 - 2664
Main Authors Jones, B.A., Gray, R.L., Turlapati, K.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2009
Subjects
Force control
Gravity
Intelligent robots
Orbital robotics
Predictive models
Real time systems
Robot sensing systems
Shape control
Tongue
USA Councils
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Summary:This paper introduces a method for computing the shape of a continuously-flexible (continuum) robot in 3-D space which includes gravity loading by applying Cosserat rod theory to a continuum robot. With this theory, the shape of the rod can be determined using force-torque balance equations obtained from a simple free body diagram that represents the continuum robot. Real-time performance of 125 Hz makes this approach viable for the control of a continuum robot, enabled by avoiding boundary-value conditions in the solution.
ISBN:9781424438037
1424438039
ISSN:2153-0858
DOI:10.1109/IROS.2009.5354199