Accession Number : ADA462495


Title :   Dynamic Modelling for Planar Extensible Continuum Robot Manipulators


Descriptive Note : Technical rept.


Corporate Author : CLEMSON UNIV SC DEPT OF ELECTRICAL AND COMPUTER ENGINEERING


Personal Author(s) : Tatlicioglu, E ; Walker, Ian D ; Dawson, Darren M


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a462495.pdf


Report Date : Jan 2006


Pagination or Media Count : 28


Abstract : In this paper, a new dynamic model for continuum robot manipulators is derived. The dynamic model is developed based on the geometric model of extensible continuum robot manipulators with no torsional effects. The development presented in this paper is an extension of the dynamic model proposed by Mochiyama and Suzuki to include a class of extensible continuum robot manipulators. Numerical simulation results are presented for a planar 3-link extensible continuum robot manipulator.


Descriptors :   *MATHEMATICAL MODELS , *ROBOTS , *MANIPULATORS , ROBOTICS , CONTINUUM MECHANICS , MATRICES(MATHEMATICS)


Subject Categories : Cybernetics
      Mechanics
      Bionics


Distribution Statement : APPROVED FOR PUBLIC RELEASE