Title :
Self-motion analysis of extensible continuum manipulators
Author :
Kapadia, Apoorva D. ; Walker, Ian D.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., Clemson, SC, USA
Abstract :
While the field of continuum manipulators has been the subject of increasing attention from the robotics community, knowledge of their inherent capabilities is still limited. Controllers have been proposed that exploit the null-space of redundant continuum manipulators, however studies of the nature of continuum robot null-spaces have not yet been done. In this paper, we first develop a convenient set of extensible, continuum manipulator forward kinematics and resolved-motion rate inverse kinematics. This allows us to analyze the null-space of 2-section, planar, extensible, redundant continuum manipulators to consider the underlying structure of general continuum robot self-motions and discuss their importance to real-world examples and applications.
Keywords :
continuum mechanics; manipulator kinematics; mobile robots; redundant manipulators; 2-section-planar-extensible-redundant continuum manipulator null-space; general continuum robot self-motion analysis; redundant continuum manipulator forward kinematics; resolved-motion rate inverse kinematics; Jacobian matrices; Kinematics; Manifolds; Manipulators; Robot kinematics; Three-dimensional displays;
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
Print_ISBN :
978-1-4673-5641-1
DOI :
10.1109/ICRA.2013.6630842