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Mechanics of Continuum Manipulators, a Comparative Study of Five Methods with Experiments

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Towards Autonomous Robotic Systems (TAROS 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10454))

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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.

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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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Authors and Affiliations

  1. Department of Informatics, Centre for Robotics Research (CoRe), King’s College London, London, UK

    S. M. Hadi Sadati, Ali Shiva & Thrishantha Nanayakkara

  2. School of Engineering and Materials Science, Queen Mary, University of London, London, UK

    Seyedeh Elnaz Naghibi & Kaspar Althoefer

  3. Department of Electrical and Computer Engineering, Clemson University, Clemson, USA

    Ian D. Walker

  4. Dyson School of Design Engineering, Imperial College London, London, UK

    Thrishantha Nanayakkara

Authors
  1. S. M. Hadi Sadati
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  2. Seyedeh Elnaz Naghibi
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  3. Ali Shiva
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  4. Ian D. Walker
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  5. Kaspar Althoefer
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  6. Thrishantha Nanayakkara
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Corresponding author

Correspondence to S. M. Hadi Sadati .

Editor information

Editors and Affiliations

  1. University of Surrey, Guildford, United Kingdom

    Yang Gao

  2. University of Surrey, Guildford, United Kingdom

    Saber Fallah

  3. University of Surrey, Guildford, United Kingdom

    Yaochu Jin

  4. University of Surrey, Guildford, United Kingdom

    Constantina Lekakou

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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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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-64106-5

  • Online ISBN: 978-3-319-64107-2

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