Three Dimensional Statics for Continuum Robotics

被引：112
作者：
Jones, Bryan A. [1 ]
Gray, Ricky L. [1 ]
Turlapati, Krishna [1 ]
机构：
[1] Mississippi State Univ, Dept Elect & Comp Engn, Mississippi State, MS 39762 USA
来源：
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年
关键词：
MANIPULATOR; KINEMATICS;
D O I：
10.1109/IROS.2009.5354199
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper introduces a method for computing the shape of a continuously-flexible (continuum) robot in 3-D space which includes gravity loading by applying Cosserat rod theory to a continuum robot. With this theory, the shape of the rod can be determined using force-torque balance equations obtained from a simple free body diagram that represents the continuum robot. Real-time performance of 125 Hz makes this approach viable for the control of a continuum robot, enabled by avoiding boundary-value conditions in the solution.
引用
收藏
页码：2659 / 2664
页数：6
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