Jacobian matrix of a novel continuum robot for search and rescue

被引：4
|
作者：
Meng, Guangzhu [1 ]
Sun, Lingyu [1 ]
Peng, Ping [1 ]
Meng, Xianchun [1 ]
Wang, Hongmei [1 ]
Zhang, Jianwei [2 ]
机构：
[1] Hebei Univ Technol, Sch Mech Engn, Tianjin 300130, Peoples R China
[2] Fengfeng Grp Xuecun Mine Electromech Dist, Handan 056107, Peoples R China
来源：
SENSORS, MEASUREMENT AND INTELLIGENT MATERIALS, PTS 1-4 | 2013年 / 303-306卷
关键词：
continuum robot; search and rescue; forward kinematics; product of exponentials; Jacobian; KINEMATICS;
D O I：
10.4028/www.scientific.net/AMM.303-306.1695
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
In this paper, a novel continuum robot for search and rescue is presented. A forward kinematic model is derived by product of exponentials formula, compare with conventional D-H method, this method is concise and simplicity. Finally, based on the differential kinematics using the chain rule, the overall Jacobian of the robot is established. This approach can be generally applied to various continuum robots, regardless of the specific actuation system used.
引用
收藏
页码：1695 / +
页数：2
相关论文
共 50 条
  • [1] Kinematic analysis and simulation of a novel continuum robot for search and rescue
    Meng, Guangzhu
    Sun, Lingyu
    Zhang, Minglu
    Zhang, Minglu
    Meng, Xianchun
    Wang, Hongmei
    ADVANCED RESEARCH ON INTELLIGENT SYSTEMS AND MECHANICAL ENGINEERING, 2013, 644 : 265 - 270
  • [2] Jacobian-Matrix-Based Dexterity Analysis of a Continuum Robot
    Kang R.
    Wang C.
    Geng S.
    Yang C.
    Tianjin Daxue Xuebao (Ziran Kexue yu Gongcheng Jishu Ban)/Journal of Tianjin University Science and Technology, 2020, 53 (04): : 341 - 348
  • [3] Forward and inverse kinematic of continuum robot for search and rescue
    Meng, Guangzhu
    Yuan, Guangming
    Liu, Zhe
    Zhang, Jun
    ADVANCES IN MANUFACTURING SCIENCE AND ENGINEERING, PTS 1-4, 2013, 712-715 : 2290 - 2295
  • [4] Development of a continuum robot enhanced with distributed sensors for search and rescue
    Yu Yamauchi
    Yuichi Ambe
    Hikaru Nagano
    Masashi Konyo
    Yoshiaki Bando
    Eisuke Ito
    Solvi Arnold
    Kimitoshi Yamazaki
    Katsutoshi Itoyama
    Takayuki Okatani
    Hiroshi G. Okuno
    Satoshi Tadokoro
    ROBOMECH Journal, 9
  • [5] Development of a continuum robot enhanced with distributed sensors for search and rescue
    Yamauchi, Yu
    Ambe, Yuichi
    Nagano, Hikaru
    Konyo, Masashi
    Bando, Yoshiaki
    Ito, Eisuke
    Arnold, Solvi
    Yamazaki, Kimitoshi
    Itoyama, Katsutoshi
    Okatani, Takayuki
    Okuno, Hiroshi G.
    Tadokoro, Satoshi
    ROBOMECH JOURNAL, 2022, 9 (01):
  • [6] On the development of a novel urban search and rescue robot
    Hudock, BM
    PROCEEDINGS OF THE THIRTY-SIXTH SOUTHEASTERN SYMPOSIUM ON SYSTEM THEORY, 2004, : 451 - 455
  • [7] A novel reconfigurable robot for urban search and rescue
    TAMS, Department of Informatics, University of Hamburg, Hamburg, Germany
    不详
    Int. J. Adv. Rob. Syst., 2006, 4 (359-366):
  • [8] Approximate Jacobian robot control with adaptive Jacobian matrix
    Cheah, CC
    42ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, PROCEEDINGS, 2003, : 5859 - 5864
  • [9] A Search and Rescue Robot
    Herbert, Sam
    Bird, Nathaniel
    Drenner, Andrew
    Papanikolopoulos, Nikolaos
    ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, 2009, : 293 - 294
  • [10] RescueBot Search - Rescue - Robot
    Rahman Khan, Hammad ur
    COMPANION OF THE 2018 ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTION (HRI'18), 2018, : 351 - 352
12345