Abstract
In this paper we address the kinematics of hyper-redundant robots known as continuum robots. Though research is not new in this area, there has not been an established kinematic model for these robots. We derive a new kinematic model that uses both differential geometry and the Denavit-Hartenberg procedure to provide not only an intuitive physical model, but also a model that can be used with standard redundancy resolution techniques. We give examples in both the planar and spatial cases to demonstrate our kinematic model.
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© 2000 Springer Science+Business Media Dordrecht
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Hannan, M.W., Walker, I.D. (2000). Novel Kinematics for Continuum Robots. In: Lenarčič, J., Stanišić, M.M. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-4120-8_24
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DOI: https://doi.org/10.1007/978-94-011-4120-8_24
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-5803-2
Online ISBN: 978-94-011-4120-8
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