Three dimensional statics for continuum robotics

Authors:
Bryan A. Jones;Ricky L. Gray;Krishna Turlapati
Affiliations:
Department of Electrical and Computer Engineering, Mississippi State University, Mississippi State, MS;Department of Electrical and Computer Engineering, Mississippi State University, Mississippi State, MS;Department of Electrical and Computer Engineering, Mississippi State University, Mississippi State, MS
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 4
Cited 2

Introduction to Robotics: Mechanics and Control

Introduction to Robotics: Mechanics and Control
Biologically Inspired Robots: Serpentile Locomotors and Manipulators

Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Design, analysis and experimentation: the fundamentals of continuum robotic manipulators

Design, analysis and experimentation: the fundamentals of continuum robotic manipulators
Kinematics for multisection continuum robots

IEEE Transactions on Robotics

Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review

International Journal of Robotics Research
A geometrically exact model for externally loaded concentric-tube continuum robots

IEEE Transactions on Robotics

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Abstract

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.