Continuum robot dynamic models have previously involved a choice between high accuracy, numerically intensive models, and low accuracy, computationally efficient models. The objective of this paper is to provide an accurate dynamic model with low computational overhead. Our approach is to place point masses at the center of gravity of the continuum section, rather than along the robot’s backbone or centerline. This enables the model to match the robot’s energetic characteristics with many fewer point masses. We experimentally validate the model using a pneumatic muscle actuated continuum arm. We find that the proposed model successfully captures both the transient and steady state dynamics of the arm.
- Dynamic Systems and Control Division
Efficient Spatial Dynamics for Continuum Arms
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Godage, IS, Wirz, R, Walker, ID, & Webster, RJ, III. "Efficient Spatial Dynamics for Continuum Arms." Proceedings of the ASME 2015 Dynamic Systems and Control Conference. Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. Columbus, Ohio, USA. October 28–30, 2015. V003T53A005. ASME. https://doi.org/10.1115/DSCC2015-9932
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