Title :
Three dimensional statics for continuum robotics
Author :
Jones, Bryan A. ; Gray, Ricky L. ; Turlapati, Krishna
Author_Institution :
Dept. of Electr. & Comput. Eng., Mississippi State Univ., Starkville, MS, USA
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.
Keywords :
boundary-value problems; robots; statics; 3D statics; Cosserat rod theory; boundary-value conditions; continuously-flexible robot; continuum robotics; force-torque balance equations; Force control; Gravity; Intelligent robots; Orbital robotics; Predictive models; Real time systems; Robot sensing systems; Shape control; Tongue; USA Councils;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354199
