Uniform Regulation of a Multi-Section Continuum Manipulator

  title={Uniform Regulation of a Multi-Section Continuum Manipulator},
  author={Ian A. Gravagne and Ian D. Walker},
Continuum manipulators are robotic manipulators built using one continuous, elastic, and highly deformable " backbone " instead of multiple rigid links and joints. I n previous work, we illuminated various kinematic and dynamic properties of continuum robots, but the question of controller design remained open. This paper presents a basic result for continuum robots that has long been knoum for rigid-link robots: that a simple PD-plus-feedforward controller can exponentially regulate the… CONTINUE READING
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