Dynamic modelling for planar extensible continuum robot manipulators

被引：75
作者：
Tatlicioglu, Enver [1 ]
Walker, Ian D. [1 ]
Dawson, Darren M. [1 ]
机构：
[1] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA
来源：
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年
关键词：
D O I：
10.1109/ROBOT.2007.363173
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a new dynamic model for continuum robot manipulators is derived. The dynamic model is developed based on the geometric model of extensible continuum robot manipulators with no torsional effects. The development presented in this paper is an extension of the dynamic model proposed in [20] (by Mochiyama and Suzuki) to include a class of extensible continuum robot manipulators. Numerical simulation results are presented for a planar 3-link extensible continuum robot manipulator.
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页码：1357 / +
页数：3
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