DocumentCode
393788
Title
Dynamical modelling of a hyper-flexible manipulator
Author
Mochiyama, Hiromi ; Suzuki, Takahiro
Author_Institution
Nat. Defense Acad., Kanagawa, Japan
Volume
3
fYear
2002
fDate
5-7 Aug. 2002
Firstpage
1505
Abstract
In this paper, a three-dimensional dynamics model of a hyper-flexible manipulator like a string is derived based on a slice of the arm, which is regarded as a rigid link with an infinitesimal width of a serial rigid chain manipulator. We show the model in three forms familiar in the theory of robot control: Newton-Euler, Lagrange and regressor representations.
Keywords
Jacobian matrices; flexible manipulators; manipulator dynamics; manipulator kinematics; Jacobian matrix; Lagrange representation; Newton-Euler representation; continuum robot; curve geometry; dynamics; hyper-flexible manipulator; kinematics; regressor representation; slices; string; Computational geometry; Defense industry; Kinematics; Lagrangian functions; Legged locomotion; Manipulator dynamics; Orbital robotics; Robot control; Spine; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN
0-7803-7631-5
Type
conf
DOI
10.1109/SICE.2002.1196530
Filename
1196530
Link To Document