Large deflection dynamics and control for planar continuum robots

Ian A. Gravagne, Christopher D. Rahn, Ian D. Walker

Research output: Contribution to journalReview articlepeer-review

285 Scopus citations


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.

Original languageEnglish (US)
Pages (from-to)299-307
Number of pages9
JournalIEEE/ASME Transactions on Mechatronics
Issue number2
StatePublished - Jun 2003

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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