Large deflection dynamics and control for planar continuum robots

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

doi:10.1109/TMECH.2003.812829

Large deflection dynamics and control for planar continuum robots

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

Mechanical Engineering

Research output: Contribution to journal › Review article › peer-review

333 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 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 language	English (US)
Pages (from-to)	299-307
Number of pages	9
Journal	IEEE/ASME Transactions on Mechatronics
Volume	8
Issue number	2
DOIs	https://doi.org/10.1109/TMECH.2003.812829
State	Published - Jun 2003

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TMECH.2003.812829

Cite this

@article{1298676a6a90450d9082d779045156ec,

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 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.",

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

note = "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.",

year = "2003",

month = jun,

doi = "10.1109/TMECH.2003.812829",

language = "English (US)",

volume = "8",

pages = "299--307",

journal = "IEEE/ASME Transactions on Mechatronics",

issn = "1083-4435",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "2",

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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.

UR - https://www.scopus.com/pages/publications/0037524529

UR - https://www.scopus.com/pages/publications/0037524529#tab=citedBy

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 -

Large deflection dynamics and control for planar continuum robots

Abstract

All Science Journal Classification (ASJC) codes

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