Title :
The Frenet-Serret manipulator
Author :
Mochiyama, Hiromi ; Hiramatsu, Shin Ichirou ; Mori, Yasuchika
Author_Institution :
Dept. of Mech. Syst. Eng., Nat. Defense Acad., Kanagawa, Japan
Abstract :
The Frenet-Serret manipulators are robotic arms for whole-arm manipulation. This type of manipulator has the same kinematic structure same as the Frenet-Serret apparatus of a spatial curve which is a tool for expressing the geometric features of the curve in classical differential geometry. We developed a Frenet-Serret manipulator with three joint units each of which has roll-pitch two degree-of-freedom. We show the design concept, specification, mechanical structure and driving mechanism of the developed Frenet-Serret manipulator. We also show a recursive regressor form of the dynamics which is utilized for system identification and control of the manipulator
Keywords :
differential geometry; manipulator dynamics; manipulator kinematics; matrix algebra; Frenet-Serret manipulator; classical differential geometry; design concept; driving mechanism; geometric features; identification; kinematic structure; mechanical structure; recursive regressor; robotic arms; spatial curve; specification; two degree-of-freedom joints; whole-arm manipulation; Arm; Computational geometry; Control system synthesis; Control systems; Equations; Joining processes; Kinematics; Manipulator dynamics; Robots; System identification;
Conference_Titel :
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location :
Como
Print_ISBN :
0-7803-6736-7
DOI :
10.1109/AIM.2001.936424
