Dynamics modeling of planar continuum robots by finite circular elements for motion control

Effective dynamics modeling and control of continuum robots have been a challenge for almost a couple of decades. The most important modeling challenge is to provide a model with good precision, which can be solved numerically in a reasonable time. Specifically, it is valuable if an accurate model can be solved in real-time, in order to be used in real-time control implementations. In this paper, using the proposed dynamics model of continuum robots, a model based control is introduced and simulated. This model is based on the assumption of circular arcs (a series of constant-curvature elements). This model is fast and accurate, and can be solved in real-time. Then, the model base controller is designed and simulated for some trajectory tracking tasks. The controller response is analyzed in two cases, one with consideration of model uncertainties, and the other without uncertainties. The results without uncertainties are appropriate, as discussed in the simulation results. However, the controller should be modified to provide better results when uncertainties are applied.