Novel modal approach for kinematics of multisection continuum arms

@article{Godage2011NovelMA,
  title={Novel modal approach for kinematics of multisection continuum arms},
  author={Isuru S. Godage and Emanuele Guglielmino and David T. Branson and Gustavo A. Medrano-Cerda and Darwin G. Caldwell},
  journal={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2011},
  pages={1093-1098}
}
This paper presents a new three dimensional (3D) kinematic model based on mode shape functions (MSF) for multisection continuum arms. It solves the singularity problems associated with previous models and introduces a novel approach for intuitively deriving exact, singularity-free MSFs, thus avoiding mode switching schemes and simplifying error models. The model is able to simulate spatial bending, pure elongation/contraction, and introduces inverse orientation kinematics for the first time to… CONTINUE READING
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