Three Dimensional Statics for Continuum Robotics

被引：113

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

页码：2659 / 2664

页数：6

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