Dynamic Modelling for Planar Extensible Continuum Robot Manipulators

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 to include a class of extensible continuum robot manipulators. Numerical simulation results are presented for a planar 3-link extensible continuum robot manipulator.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2006
Accession Number
ADA462495

Entities

People

  • Darren M. Dawson
  • E. Tatlicioglu
  • Ian D. Walker

Organizations

  • Clemson University

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Automation
  • Computational Chemistry Methods
  • Control
  • Control Systems
  • Curvature
  • Dynamics
  • Energy
  • Engineering
  • Equations Of Motion
  • Geometry
  • Inertia
  • Kinetic Energy
  • Manipulators
  • New York
  • Simulations
  • Three Dimensional
  • Universities

Readers

  • Artificial Intelligence
  • Quantum Chemistry

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy