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
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;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on
Conference_Location :
Budapest
Print_ISBN :
978-1-4577-0838-1
DOI :
10.1109/AIM.2011.6027137
