Dynamic Modeling of Bellows-Actuated Continuum Robots Using the Euler–Lagrange Formalism

@article{Falkenhahn2015DynamicMO,
  title={Dynamic Modeling of Bellows-Actuated Continuum Robots Using the Euler–Lagrange Formalism},
  author={Valentin Falkenhahn and Tobias Mahl and Alexander Hildebrandt and R{\"u}diger Neumann and Oliver Sawodny},
  journal={IEEE Transactions on Robotics},
  year={2015},
  volume={31},
  pages={1483-1496}
}
In the previous decade, multiple useful approaches for kinematic models of continuum manipulators were successfully developed. However, dynamic modeling approaches needed for fast simulations and the development of model-based controller design are not powerful enough yet-especially for spatial manipulators with multiple sections. Therefore, a practicable lumped mass model similar to common dynamic models of rigid-link manipulators is needed, which can be used for simulations and model-based… CONTINUE READING