Novel modal approach for kinematics of multisection continuum arms

Godage,; Guglielmino,; Branson,; Medrano-Cerda,; Caldwell,

doi:10.1109/iros.2011.6048086

Cited by 10 publications

(16 citation statements)

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“…Derived from modal kinematics (Godage et al, 2011c(Godage et al, , 2015 and extending previous work on single continuum section dynamics, this paper presents a new spatial dynamic model for variable length multisection continuum arms. The EoM are derived in a recursive form and produce computationally efficient results without the numerical instabilities.…”

Section: Introductionmentioning

confidence: 90%

“…In dynamics derived in this paper is based on the modal kinematics proposed by Godage et al (2011cGodage et al ( , 2015. It provides an intuitive, stable, efficient, structurally accurate, and scalable kinematics for variable length continuum arms.…”

Section: Review Of Modal Kinematics and Dynamicsmentioning

confidence: 99%

“…Based on the modal kinematics (Godage et al, 2011c(Godage et al, , 2015, the integral Lagrangian approach used on single continuum sections (Godage et al, 2011a) is extended herein for formulating the dynamics of multisection continuum arms. However, the complex kinematics and integral nature of the procedure prevent direct extension of the integral derivation proposed in (Godage et al, 2011a) to multisection continuum arms.…”

Section: Equations Of Motion For Variable Length Multisection Continumentioning

confidence: 99%

“…As with any serially connected structure, the position, orientation, and velocity of the i th continuum section only depends on all the preceding continuum sections hence ξ k = 1∀k < i and ξ k = 0∀k > i (see Figure 2) (Godage et al, 2011c). The ω i ∈ R 3 and υ i ∈ R 3 at any point ξ i along the neutral axis relative to O i is given by…”

Section: Position Orientation and Velocity Of A Thin Slicementioning

confidence: 99%

“…Godage et al (2011a,b) proposed spatial dynamics for a single, variable length continuum section and experimentally validated for a PMA actuated continuum section in (Godage et al, 2012b). The modal 1 kinematics for variable length multisection continuum arms proposed by Godage et al (2011cGodage et al ( , 2015 combined the structural accuracy of curve parametric models (Jones and Walker, 2006a) and numerical efficiency and stability of modal methods (Shabana, 2005). Further, much of the work on variable multisection continuum arms so far focused on slow moving applications where static models and kinematic control were sufficient (Jones and Walker, 2006b).…”

Section: Introductionmentioning

confidence: 99%

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Dynamics for variable length multisection continuum arms

Godage

Medrano-Cerda

Branson

et al. 2015

The International Journal of Robotics Research

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127

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Variable length multisection continuum arms are a class of continuum robotic manipulators that generate motion by structural mechanical deformation. Unlike most continuum robots, the sections of these arms do not have (central) supporting flexible backbone, and are actuated by multiple variable length actuators. Because of the constraining nature of actuators, the continuum sections can bend and/or elongate (compress) depending on the elongation/contraction characteristics of the actuators being used. Continuum arms have a number of distinctive differences with respect to traditional rigid arms namely: smooth bending, high inherent compliance, and adaptive whole arm grasping. However, due to numerical instability and the complexity of curve parametric models, there are no spatial dynamic models for multisection continuum arms. This paper introduces novel spatial dynamics and applies these to variable length multisection continuum arms with any number of sections. An efficient recursive computational scheme for deriving the equations of motion is presented. This is applied in a general form based on structurally accurate and numerically well posed modal kinematics that assumes circular arc deformation of continuum sections without torsion. It is shown that the proposed modal dynamics are highly scalable, producing efficient and accurate numerical results. The spatial dynamic simulation results are experimentally validated using a pneumatic muscle actuated multisection prototype continuum arm. For the first time this enables investigation of spatial dynamic effects in this class of continuum arms.

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Section: Introductionmentioning

confidence: 90%

Section: Review Of Modal Kinematics and Dynamicsmentioning

confidence: 99%

Section: Equations Of Motion For Variable Length Multisection Continumentioning

confidence: 99%

Section: Position Orientation and Velocity Of A Thin Slicementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Dynamics for variable length multisection continuum arms

Godage

Medrano-Cerda

Branson

et al. 2015

The International Journal of Robotics Research

Self Cite

127

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Learning-Based Approaches for Forward Kinematic Modeling of Continuum Manipulators

et al. 2020

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Forward Kinematic Modeling of Conical-Shaped Continuum Manipulators

Boutchouang¹,

Melingui²,

Ahanda³

et al. 2021

Robotica

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SUMMARY Forward kinematics is essential in robot control. Its resolution remains a challenge for continuum manipulators because of their inherent flexibility. Learning-based approaches allow obtaining accurate models. However, they suffer from the explosion of the learning database that wears down the manipulator during data collection. This paper proposes an approach that combines the model and learning-based approaches. The learning database is derived from analytical equations to prevent the robot from operating for long periods. The database obtained is handled using Deep Neural Networks (DNNs). The Compact Bionic Handling robot serves as an experimental platform. The comparison with existing approaches gives satisfaction.

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Novel modal approach for kinematics of multisection continuum arms

Cited by 10 publications

References 0 publications

Dynamics for variable length multisection continuum arms

Dynamics for variable length multisection continuum arms

Learning-Based Approaches for Forward Kinematic Modeling of Continuum Manipulators

Forward Kinematic Modeling of Conical-Shaped Continuum Manipulators

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