DocumentCode :
2941386
Title :
A New Approach to Jacobian Formulation for a Class of Multi-Section Continuum Robots
Author :
Jones, Bryan A. ; Walker, Ian D.
Author_Institution :
Department of Electrical and Computer Engineering Clemson University Clemson, SC 29634 USA bryanj@clemson.edu
fYear :
2005
fDate :
18-22 April 2005
Firstpage :
3268
Lastpage :
3273
Abstract :
We introduce a new method for synthesizing kinematics and Jacobian relationships for an important class of continuous backbone “continuum” robots. The resulting Jacobians enable task and shape control by relating work space (Cartesian) coordinates to actuator inputs (tendon lengths, pneumatic pressures, etc.), via robot shape coordinates. The approach, which is applicable to a wide class of existing continuum robots, also features the capability of including extension, as well as bending, of individual sections. The approach is also shown to produce correct results for orientation, in contrast to previously published approaches. Results of a real-time implementation of the method on a multisection continuum manipulator are reported.
Keywords :
Continuum robot; biologically inspired robots; tentacle; trunk; velocity kinematics; Hardware; Jacobian matrices; Medical robotics; Orbital robotics; Robot kinematics; Robot sensing systems; Robotics and automation; Shape control; Spine; Tendons; Continuum robot; biologically inspired robots; tentacle; trunk; velocity kinematics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
Type :
conf
DOI :
10.1109/ROBOT.2005.1570614
Filename :
1570614
Link To Document :
بازگشت