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
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;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363173
