• DocumentCode
    3416654
  • Title

    Modeling and control of a planar continuum robot

  • Author

    Dehghani, Mohammad ; Moosavian, S.A.A.

  • Author_Institution
    Dept. of Mech. Eng., K.N. Toosi Univ. of Technol., Tehran, Iran
  • fYear
    2011
  • fDate
    3-7 July 2011
  • Firstpage
    966
  • Lastpage
    971
  • Abstract
    This paper presents a method to model planar continuum robots with backbone, and introduces a method to control, based on the Jacobian matrix. The model includes forces and moments applied to the robot, and is exact in contrast to constant curvature models. Then the position control strategy is presented to put the robot tip in a desired position. Results are illustrated using a three-section continuum robot.
  • Keywords
    Jacobian matrices; position control; robots; Jacobian matrix; backbone; planar continuum robot control; planar continuum robot modeling; position control strategy; three-section continuum robot; Equations; Jacobian matrices; Kinematics; Mathematical model; Numerical models; Position control; Robots; continuum robot; modeling; position control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on
  • Conference_Location
    Budapest
  • ISSN
    2159-6247
  • Print_ISBN
    978-1-4577-0838-1
  • Type

    conf

  • DOI
    10.1109/AIM.2011.6027137
  • Filename
    6027137
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3416654