Large deflection dynamics and control for planar continuum robots

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

Large deflection dynamics and control for planar continuum robots

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

Mechanical Engineering

Research output: Contribution to conference › Paper › peer-review

1 Scopus citations

Abstract

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 work, 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 language	English (US)
Pages	1943-1952
Number of pages	10
State	Published - 2001
Event	18th Biennial Conference on Mechanical Vibration and Noise - Pittsburgh, PA, United States Duration: Sep 9 2001 → Sep 12 2001

Conference

Conference	18th Biennial Conference on Mechanical Vibration and Noise
Country/Territory	United States
City	Pittsburgh, PA
Period	9/9/01 → 9/12/01

All Science Journal Classification (ASJC) codes

Modeling and Simulation
Mechanical Engineering
Computer Science Applications
Computer Graphics and Computer-Aided Design

Cite this

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title = "Large deflection dynamics and control for planar continuum robots",

abstract = "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 work, 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.",

author = "Gravagne, \{Ian A.\} and Walker, \{Ian D.\} and Rahn, \{Christopher D.\}",

note = "Funding Information: The authors gratefully acknowledge the support of NASA (grant NAG5-9785), the NSF-EPSCOR program (grant EPS-9630167) and the South Carolina Space Consortium.; 18th Biennial Conference on Mechanical Vibration and Noise ; Conference date: 09-09-2001 Through 12-09-2001",

year = "2001",

language = "English (US)",

pages = "1943--1952",

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TY - CONF

T1 - Large deflection dynamics and control for planar continuum robots

AU - Gravagne, Ian A.

AU - Walker, Ian D.

AU - Rahn, Christopher D.

N1 - Funding Information: The authors gratefully acknowledge the support of NASA (grant NAG5-9785), the NSF-EPSCOR program (grant EPS-9630167) and the South Carolina Space Consortium.

PY - 2001

Y1 - 2001

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 work, 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 work, 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.

UR - https://www.scopus.com/pages/publications/0035790801

UR - https://www.scopus.com/pages/publications/0035790801#tab=citedBy

M3 - Paper

AN - SCOPUS:0035790801

SP - 1943

EP - 1952

T2 - 18th Biennial Conference on Mechanical Vibration and Noise

Y2 - 9 September 2001 through 12 September 2001

ER -

Large deflection dynamics and control for planar continuum robots

Abstract

Conference

All Science Journal Classification (ASJC) codes

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