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IROS
2009
IEEE

Three dimensional statics for continuum robotics

8 years 12 months ago
Three dimensional statics for continuum robotics
—This paper introduces a method for computing the shape of a continuously-flexible (continuum) robot in 3-D space which includes gravity loading by applying Cosserat rod theory to a continuum robot. With this theory, the shape of the rod can be determined using force-torque balance equations obtained from a simple free body diagram that represents the continuum robot. Real-time performance of 125 Hz makes this approach viable for the control of a continuum robot, enabled by avoiding boundary-value conditions in the solution.
Bryan A. Jones, Ricky L. Gray, Krishna Turlapati
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Bryan A. Jones, Ricky L. Gray, Krishna Turlapati
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