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
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
Distribution Statement : APPROVED FOR PUBLIC RELEASE