Corpus ID: 17614303

Kinematic Transformations for Remotely-Actuated Planar Continuum Robots

@inproceedings{Grangne2000KinematicTF,
  title={Kinematic Transformations for Remotely-Actuated Planar Continuum Robots},
  author={Ian A. Grangne and Ian D. Wa},
  year={2000}
}
  • Ian A. Grangne, Ian D. Wa
  • Published 2000
  • Mathematics
  • In this work, we consider a class of robotic manipulators generally termed “hyper-redundant”. Spec<fically, we seek to examine some 0.f the kinematic properties of ‘%ontinuum” hyper-redundant robots. Unlike the case with rigidlink’robots, there is no commonly accepted formula ,for describing continuum robot kinematics. Although these manipulators are continuously flexible, they are actuated with a ,finite number of actuators. In this paper, we discuss two possible options ,for mapping desired… CONTINUE READING

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