Shape function-based kinematics and dynamics for variable length continuum robotic arms

@article{Godage2011ShapeFK,
  title={Shape function-based kinematics and dynamics for variable length continuum robotic arms},
  author={Isuru S. Godage and David T. Branson and Emanuele Guglielmino and Gustavo A. Medrano-Cerda and Darwin G. Caldwell},
  journal={2011 IEEE International Conference on Robotics and Automation},
  year={2011},
  pages={452-457}
}
This paper presents a new three dimensional kinematic and dynamic model for variable length continuum arm robotic structures using a novel shape function-based approach. The model incorporates geometrically constrained structure of the arm to derive its deformation shape function. It is able to simulate spatial bending, pure elongation, and incorporates a new stiffness control feature. The model is validated through numerical simulations, based on a prototype continuum arm, that yields… CONTINUE READING

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