Shape Function-Based Kinematics and Dynamics for Variable Length Continuum Robotic Arms

摘要：

This paper presents a new three dimensional kinematic and dynamic model for variable length continuum arm robotic structures using a novel shape function-based approach. The model incorporates geometrically constrained structure of the arm to derive its deformation shape function. It is able to simulate spatial bending, pure elongation, and incorporates a new stiffness control feature. The model is validated through numerical simulations, based on a prototype continuum arm, that yields physically accurate results.

关键词： Continuum robotics shape functions biologically inspired robots tentacle

作者: Isuru S. Godage David T. Branson Emanuele Guglielmino Gustavo A. Medrano-Cerda Darwin G. Caldwell

作者单位: Italian Institute of Technology,Advanced Robotics Department,Via Morego 30,16163 Genoa,Italy

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 452-457

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）