Mechanics of continuum manipulators, a comparative study of five methods with experiments

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Title: Mechanics of continuum manipulators, a comparative study of five methods with experiments
Author(s): Sadati, SM
Naghibi, SE
Shiva, A
Walker, ID
Althoefer, K
Nanayakkara, T
Item Type: Conference Paper
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.
Publication Date: 20-Jul-2017
Date of Acceptance: 19-Jul-2017
URI: http://hdl.handle.net/10044/1/53519
DOI: https://dx.doi.org/10.1007/978-3-319-64107-2_56
ISBN: 9783319641065
ISSN: 0302-9743
Publisher: Springer
Start Page: 686
End Page: 702
Journal / Book Title: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume: 10454
Sponsor/Funder: Engineering & Physical Science Research Council (E
Engineering & Physical Science Research Council (EPSRC)
Funder's Grant Number: EP/R511547/1
EP/N03211X/2
Conference Name: TAROS 2017
Copyright Statement: © Springer International Publishing AG 2017. The final publication is available at Springer via https://link.springer.com/chapter/10.1007%2F978-3-319-64107-2_56
Keywords: 08 Information And Computing Sciences
Artificial Intelligence & Image Processing
Publication Status: Published
Start Date: 2017-07-19
Finish Date: 2017-07-21
Conference Place: Guildford, UK
Appears in Collections:Faculty of Engineering
Dyson School of Design Engineering



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