Title :
Dynamical modelling of a hyper-flexible manipulator
Author :
Mochiyama, Hiromi ; Suzuki, Takahiro
Author_Institution :
Nat. Defense Acad., Kanagawa, Japan
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;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1196530
