Abstract
Investigations on control and optimization of continuum manipulators have resulted in a number of kinematic and dynamic modeling approaches each having their own advantages and limitations in various applications. In this paper, a comparative study of five main methods in the literature for kinematic, static and dynamic modeling of continuum manipulators is presented in a unified mathematical framework. The five widely used methods of Lumped system dynamic model, Constant curvature, two-step modified constant curvature, variable curvature Cosserat rod and beam theory approach, and series solution identification are re-viewed here with derivation details in order to clarify their methodological differences. A comparison between computer simulations and experimental results using a STIFF-FLOP continuum manipulator is presented to study the advantages of each modeling method.
Keywords
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Acknowledgement
This work is supported in part by the U.K. Engineering and Physical Sciences Research Council (EPSRC) under MOTION Grant: EP/N03211X/2, and European Union H2020 project FourByThree code 637095.
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Sadati, S.M.H., Naghibi, S.E., Shiva, A., Walker, I.D., Althoefer, K., Nanayakkara, T. (2017). Mechanics of Continuum Manipulators, a Comparative Study of Five Methods with Experiments. In: Gao, Y., Fallah, S., Jin, Y., Lekakou, C. (eds) Towards Autonomous Robotic Systems. TAROS 2017. Lecture Notes in Computer Science(), vol 10454. Springer, Cham. https://doi.org/10.1007/978-3-319-64107-2_56
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DOI: https://doi.org/10.1007/978-3-319-64107-2_56
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