NDLI: Limiting-case Analysis of Continuum Trunk Kinematics

Content Provider	IEEE Xplore Digital Library
Author	Jones, B.A. Walker, I.D.
Copyright Year	2007
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Mississippi State Univ., MS (Jones, B.A.)
Abstract	Continuum robotic manipulators, termed trunks, mimic the astounding capabilities of elephant trunks and octopus arms by bending in smooth arcs. Several approaches to kinematic analysis of continuum trunks complement a wide variety of available continuum robots. However, these kinematics exhibit singularity-like conditions when the trunk assumes a straight posture, which is essential to complete many tasks. The novel limiting-case analysis presented in this paper eliminates these problems, demonstrating that the unique causes of the problem are rooted in the continuum formulation and cannot be solved by traditional rigid-link singularity analysis. Three practical examples demonstrate the necessity of this analysis presented, enabling the trunk to successfully perform each task.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	1363
Ending Page	1368
File Size	588266
Page Count	6
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.363174
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Manipulators Shape Jacobian matrices Actuators Robotics and automation Arm Robot sensing systems Arithmetic Equations
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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