DocumentCode :
3172569
Title :
Three-Dimensional Modeling and Display of Continuum Robots
Author :
Jones, Bryan A. ; Walker, Ian D.
Author_Institution :
Dept. of Electr. & Comput. Eng., Mississippi State Univ., MS
fYear :
2006
fDate :
9-15 Oct. 2006
Firstpage :
5872
Lastpage :
5877
Abstract :
Though a large number continuum robots exist, little work has been done to accurately and effectively visualize these devices in three dimensions. Like octopus arms and elephant trunks, these robots lack discrete joints, instead bending in smooth, continuous curves. Three-dimensional visualization of traditional rigid-link robots is both well established and extensively used in modeling, simulation, design, and operation of these robots. Providing three-dimensional visualization techniques extends these benefits, considered essential for rigid-link robots, to continuum robots. This paper presents a highly flexible three-dimensional visualization technique which executes in realtime for a large class of continuum robots. The results of this technique are then applied to two different continuum manipulators which are representative of most continuum robot designs, demonstrating the wide applicability of this method
Keywords :
control system analysis computing; data visualisation; manipulators; splines (mathematics); continuum manipulators; continuum robots; nonuniform rational B-splines; rigid-link robots; three-dimensional modeling; three-dimensional visualization; Computer displays; Intelligent robots; Manipulators; Robot kinematics; Shape; Spline; Surface reconstruction; Surface topography; Three dimensional displays; Visualization; NURBS; OpenInventor; biologically-inspired robotics; continuum trunks;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
Type :
conf
DOI :
10.1109/IROS.2006.282464
Filename :
4058401
Link To Document :
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