Lisong Xu
ABSTRACT
Continuum robots have become a research focus due to their inherent properties, such as compliance and flexibility. These unique characteristics of continuum robots give them significant advantages in narrow spaces compared to rigid robots. However, the infinite degrees of freedom cause difficulties in their kinematics and dynamics modeling. In this paper, we provide a control-oriented model for multi-segment continuum robots based on the Cosserat rod theory, aiming to obtain the mapping relationship between the cable displacement and the robot shape. In view of the coupling of cable paths between segments, the shape of the multi-segment continuum robot is combined with each segment's shape, which is solved in turn. To evaluate the model accuracy, we apply our approach to a two-segment continuum robot. A comparison is made with the finite element method (FEM). The characteristics of the cable displacement input to the shape output of the two models are consistent.
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- Control-Oriented Modeling of Multi-Segment Continuum Robot Based on Cosserat Rod Theory
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