Dynamics Modeling of a Continuum Robotic Arm with a Contact Point in Planar Grasp
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 c...
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2014/308283 |
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| author | Mohammad Dehghani S. Ali A. Moosavian |
| author_facet | Mohammad Dehghani S. Ali A. Moosavian |
| author_sort | Mohammad Dehghani |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-36e81998f6114ea0a0150fb3832408fd |
| institution | OA Journals |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-36e81998f6114ea0a0150fb3832408fd2025-08-20T02:07:46ZengWileyJournal of Robotics1687-96001687-96192014-01-01201410.1155/2014/308283308283Dynamics Modeling of a Continuum Robotic Arm with a Contact Point in Planar GraspMohammad Dehghani0S. Ali A. Moosavian1Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems Lab, Department of Mechanical Engineering, Khaje Nasir Toosi University of Technology, Tehran, IranCenter of Excellence in Robotics and Control, Advanced Robotics and Automated Systems Lab, Department of Mechanical Engineering, Khaje Nasir Toosi University of Technology, Tehran, IranGrasping 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.http://dx.doi.org/10.1155/2014/308283 |
| spellingShingle | Mohammad Dehghani S. Ali A. Moosavian Dynamics Modeling of a Continuum Robotic Arm with a Contact Point in Planar Grasp Journal of Robotics |
| title | Dynamics Modeling of a Continuum Robotic Arm with a Contact Point in Planar Grasp |
| title_full | Dynamics Modeling of a Continuum Robotic Arm with a Contact Point in Planar Grasp |
| title_fullStr | Dynamics Modeling of a Continuum Robotic Arm with a Contact Point in Planar Grasp |
| title_full_unstemmed | Dynamics Modeling of a Continuum Robotic Arm with a Contact Point in Planar Grasp |
| title_short | Dynamics Modeling of a Continuum Robotic Arm with a Contact Point in Planar Grasp |
| title_sort | dynamics modeling of a continuum robotic arm with a contact point in planar grasp |
| url | http://dx.doi.org/10.1155/2014/308283 |
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