| Autor: |
Levi Rupert, Thomas F. Allen, Albert Kevin B, Timothy R. Duggan, Hein Gabriel F |
| Rok vydání: |
2020 |
| Předmět: |
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| Zdroj: |
RoboSoft |
| Popis: |
Continuum manipulators describe robotic arms which achieve motion by bending continuously along their length. This paper presents a kinematic parameterization of such arms, which avoids a problematic singularity common to previous approaches. It provides a closed-form and computationally efficient description of the kinematics of joint sections that are assumed to make circular arcs. This approach applies to a broad class of manipulator designs and does not depend on the number or position of actuators (e.g. tendons or artificial muscles). This parameterization has enabled real-time dynamics modeling of robotic manipulators composed of continuum joints. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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