TY - JOUR
T1 - Large deflection dynamics and control for planar continuum robots
AU - Gravagne, Ian A.
AU - Rahn, Christopher D.
AU - Walker, Ian D.
N1 - Funding Information:
Manuscript received July 4, 2001; revised April 22, 2002. This work was supported in part by the National Aeronautics and Space Administration under Grant NAG5-9785, in part by the National Science Foundation NSF-EPSCOR program under Grant EPS-9630167, and in part by the South Carolina Space Consortium Graduate Fellowship Program. This paper was presented in part at the ASME 18th Biennial Conference on Mechanical Vibration and Noise (DETC2001), Pittsburgh, PA, September 9–12, 2001. Recommended by Technical Editor M. Meng.
PY - 2003/6
Y1 - 2003/6
N2 - This paper focuses on a class of robot manipulators termed "continuum" robots-robots that exhibit behavior similar to 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.
AB - This paper focuses on a class of robot manipulators termed "continuum" robots-robots that exhibit behavior similar to 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.
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U2 - 10.1109/TMECH.2003.812829
DO - 10.1109/TMECH.2003.812829
M3 - Review article
AN - SCOPUS:0037524529
SN - 1083-4435
VL - 8
SP - 299
EP - 307
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 2
ER -