NDLI: A variable curvature modeling approach for kinematic control of continuum manipulators

Content Provider	IEEE Xplore Digital Library
Author	Mahl, T. Mayer, A.E. Hildebrandt, A. Sawodny, O.
Copyright Year	2013
Description	Author affiliation: Res. Dept., Festo AG & Co. KG, Esslingen, Germany (Hildebrandt, A.) \|\| Inst. for Syst. Dynamics, Univ. of Stuttgart, Stuttgart, Germany (Mahl, T.; Mayer, A.E.; Sawodny, O.)
Abstract	Continuum manipulators are continuously bending robots consisting of an infinite number of kinematic degrees of freedom (DOF). To reduce the number of actuators, the manipulators are designed in a way to build several serially connected groups of mechanically coupled DOF. These groups are called sections. For real-time motion control, a kinematic model capable to describe the manipulator's deflection is necessary. A common way to model the manipulator kinematics is to describe the deformation of a single section by a curve with constant curvature. This assumption constitutes an intense constrain with respect to manipulator design or model accuracy. Thus, a new kinematic modeling approach capable to describe the kinematics of continuum manipulators with variable section curvature is proposed in the present work. It subdivides a single section in a finite number of virtual units with piecewise constant curvature. This provides the possibility to shape the modeled section curvature closely to the deformation of any arbitrarily bending continuum manipulator. To demonstrate that this modeling approach is well suited for real-time control applications, simulation results of a Jacobian based feed-forward pose control are presented that are applied to the common class of three actuator continuum manipulators.
Starting Page	4945
Ending Page	4950
File Size	237901
Page Count	6
File Format	PDF
ISBN	9781479901777
ISSN	07431619
e-ISBN	9781479901784
DOI	10.1109/ACC.2013.6580605
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-06-17
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Manipulators Actuators Kinematics Jacobian matrices Simulation Aerospace electronics Trajectory
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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