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

Research output: Chapter in Book/Report/Conference proceedingConference paper

S.M.Hadi Sadati ; S. Elnaz Naghibi ; Ali Shiva ; Ian D. Walker ; Kaspar Althoefer ; Thrishantha Nanayakkara

Original languageEnglish
Title of host publicationConference Towards Autonomous Robotic Systems
Place of PublicationSurrey, UK
PublisherSPRINGER
Pages689-702
Volume10454
ISBN (Electronic) 978-3-319-64107-2
DOIs
StateE-pub ahead of print - 20 Jul 2017

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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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