Dynamics Modeling of a Continuum Robotic Arm with a Contact Point in Planar Grasp
Joint Authors
Moosavian, S. Ali A.
Dehghani, Mohammad
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-11-19
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
Grasping objects by continuum arms or fingers is a new field of interest in robotics.
Continuum manipulators have the advantages of high adaptation and compatibility with respect to the object shape.
However, due to their extremely nonlinear behavior and infinite degrees of freedom, continuum arms cannot be easily modeled.
In fact, dynamics modeling of continuum robotic manipulators is state-of-the-art.
Using the exact modeling approaches, such as theory of Cosserat rod, the resulting models are either too much time-taking for computation or numerically unstable.
Thus, such models are not suitable for applications such as real-time control.
However, based on realistic assumptions and using some approximations, these systems can be modeled with reasonable computational efforts.
In this paper, a planar continuum robotic arm is modeled, considering its backbone as two circular arcs.
In order to simulate finger grasping, the continuum arm experiences a point-force along its body.
Finally, the results are validated using obtained experimental data.
American Psychological Association (APA)
Dehghani, Mohammad& Moosavian, S. Ali A.. 2014. Dynamics Modeling of a Continuum Robotic Arm with a Contact Point in Planar Grasp. Journal of Robotics،Vol. 2014, no. 2014, pp.1-13.
https://search.emarefa.net/detail/BIM-1042872
Modern Language Association (MLA)
Dehghani, Mohammad& Moosavian, S. Ali A.. Dynamics Modeling of a Continuum Robotic Arm with a Contact Point in Planar Grasp. Journal of Robotics No. 2014 (2014), pp.1-13.
https://search.emarefa.net/detail/BIM-1042872
American Medical Association (AMA)
Dehghani, Mohammad& Moosavian, S. Ali A.. Dynamics Modeling of a Continuum Robotic Arm with a Contact Point in Planar Grasp. Journal of Robotics. 2014. Vol. 2014, no. 2014, pp.1-13.
https://search.emarefa.net/detail/BIM-1042872
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1042872