DocumentCode
2049426
Title
Manipulability and force ellipsoids for continuum robot manipulators
Author
Gravagne, I.A. ; Walker, Ian D.
Author_Institution
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
Volume
1
fYear
2001
fDate
2001
Firstpage
304
Abstract
Manipulability and force ellipsoids have long been a useful tool for analyzing the relative capabilities of robotic, manipulators to move in, or to exert forces in, certain directions. The purpose of this paper is to first formulate, and then to examine, the manipulability and force ellipsoids for continuum robots. Continuum robots have continuously flexible backbones; consequently, their infinite-dimensional kinematics present special challenges in the formulation and interpretation of ellipsoids
Keywords
flexible manipulators; manipulator kinematics; continuously flexible manipulators; continuum robot manipulators; force ellipsoids; infinite-dimensional kinematics; manipulability; Actuators; Ellipsoids; Endoscopes; Iron; Kinematics; Legged locomotion; Manipulator dynamics; Robots; Shape; Spine;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location
Maui, HI
Print_ISBN
0-7803-6612-3
Type
conf
DOI
10.1109/IROS.2001.973375
Filename
973375
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