Kinematics and dynamics of a cable-like hyper-flexible manipulator

Mochiyama, Hiromi; Suzuki, Takahiro

doi:10.1109/robot.2003.1242160

Cited by 74 publications

(45 citation statements)

References 7 publications

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“…But this kind of dynamic modelling cannot be used in the case of general three dimensions. In [25] and [26], Mochiyama et al developed a three-dimensional dynamic model for an inextensible (constant length) continuum manipulator based on a slice of the arm, which is regarded as a rigid link with an infinitesimal width of a serial rigid chain manipulator. However, the dynamic model does not include extensible manipulators.…”

Section: Introductionmentioning

confidence: 99%

An Analytic Method for the Kinematics and Dynamics of a Multiple-Backbone Continuum Robot

Wang

et al. 2013

International Journal of Advanced Robotic Systems

107

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Continuum robots have been the subject of extensive research due to their potential use in a wide range of applications. In this paper, we propose a new continuum robot with three backbones, and provide a unified analytic method for the kinematics and dynamics of a multiple-backbone continuum robot. The robot achieves actuation by independently pulling three backbones to carry out a bending motion of two-degreesof-freedom (DoF). A three-dimensional CAD model of the robot is built and the kinematical equation is established on the basis of the Euler-Bernoulli beam. The dynamical model of the continuum robot is constructed by using the Lagrange method. The simulation and the experiment's validation results show the continuum robot can exactly bend into pre-set angles in the two-dimensional space (the maximum error is less than 5% of the robot length) and can make a circular motion in three-dimensional space. The results demonstrate that the proposed analytic method for the kinematics and dynamics of a continuum robot is feasible.

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Section: Introductionmentioning

confidence: 99%

An Analytic Method for the Kinematics and Dynamics of a Multiple-Backbone Continuum Robot

Wang

et al. 2013

International Journal of Advanced Robotic Systems

107

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“…Some of the dynamic models which have been developed include [20], [21], where the planar model of the manipulator was considered, and [22], where the authors develop a 3D dynamic model for a constant length, non-extensible continuum manipulator. As such, the complete dynamic modeling of variable length continuum robot arms remains an open research area.…”

Section: B Dynamic Modelmentioning

confidence: 99%

Neural Network Grasping Controller for Continuum Robots

Braganza¹,

Dawson²,

Walker³

et al. 2006

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Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Abstract-Continuum or hyper-redundant robots are robots which exhibit behavior similar to biological trunks, tentacles and snakes. Unlike traditional robots, continuum robot manipulators do not have rigid joints, hence the manipulators are compliant, extremely dexterous, and capable of dynamic, adaptive manipulation in unstructured environments; however, the development of high-performance control algorithms for these manipulators is a challenging problem. In this paper, we present an approach to whole arm grasping control for continuum robots. The grasping controller is developed in two stages; high level path planning for the grasping objective, and a low level joint controller using a neural network feedforward component to compensate for dynamic uncertainties. These techniques are used to enable whole arm grasping without using contact force measurements and without using a dynamic model of the continuum robot. Experimental results using the OCTARM, a soft continuum robotic manipulator are included to illustrate the efficacy of the proposed low level joint controller.

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“…It should be noted that much prior work has focused in the general context of continuum robots. In the earliest studies [6,7], Mochiyama et al presented the general framework of kinematic and dynamic modeling of hyper-redundant flexible manipulators, while the elastic potential energy due to bending is not included in the model. Ivanescu et al [8][9][10] introduced dynamic model for hyper-redundant manipulators with the assumption of two degrees of freedom in each section.…”

Section: Introductionmentioning

confidence: 99%

Three-Dimensional Passivity-Based Dynamic Control for Tendon-Driven Catheters

Soltani

Khanmohammadi

Ghalichi

2016

MATEC Web of Conferences

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Abstract. This paper presents a three-dimensional dynamic model for active catheters commonly implemented in cardiac ablation, and introduces nonlinear closed-form model-based control scheme. The dynamic model includes rotational, translational and bending effects, moreover entails simple formulation to be implemented in real-time clinical application. Then, Lyapunov-based position control strategy is developed to locate the catheter tip at the desired position. Results verify the viability of the introduced approach for its applicability in robot-assisted cardiac ablation.

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Kinematics and dynamics of a cable-like hyper-flexible manipulator

Cited by 74 publications

References 7 publications

An Analytic Method for the Kinematics and Dynamics of a Multiple-Backbone Continuum Robot

An Analytic Method for the Kinematics and Dynamics of a Multiple-Backbone Continuum Robot

Neural Network Grasping Controller for Continuum Robots

Three-Dimensional Passivity-Based Dynamic Control for Tendon-Driven Catheters

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