DocumentCode
2623256
Title
Dynamic Modelling for Planar Extensible Continuum Robot Manipulators
Author
Tatlicioglu, Enver ; Walker, Ian D. ; Dawson, Darren M.
Author_Institution
Dept. of Electr. & Comput. Eng., Clemson Univ., SC
fYear
2007
fDate
10-14 April 2007
Firstpage
1357
Lastpage
1362
Abstract
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 by Mochiyama and Suzuki (2002) to include a class of extensible continuum robot manipulators. Numerical simulation results are presented for a planar 3-link extensible continuum robot manipulator.
Keywords
geometry; manipulators; matrix algebra; dynamic modelling; geometric model; orientation matrix; planar extensible continuum robot manipulators; Automotive engineering; Biological system modeling; Kinematics; Kinetic energy; Legged locomotion; Manipulator dynamics; Robotics and automation; Robots; Solid modeling; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location
Roma
ISSN
1050-4729
Print_ISBN
1-4244-0601-3
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2007.363173
Filename
4209277
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