Three dimensional statics for continuum robotics

@article{Jones2009ThreeDS,
  title={Three dimensional statics for continuum robotics},
  author={Bryan A. Jones and Ricky L. Gray and Krishna Turlapati},
  journal={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2009},
  pages={2659-2664}
}
This paper introduces a method for computing the shape of a continuously-flexible (continuum) robot in 3-D space which includes gravity loading by applying Cosserat rod theory to a continuum robot. With this theory, the shape of the rod can be determined using force-torque balance equations obtained from a simple free body diagram that represents the continuum robot. Real-time performance of 125 Hz makes this approach viable for the control of a continuum robot, enabled by avoiding boundary… CONTINUE READING
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