DEVELOPING A KINEMATICALLY SIMILAR MASTER DEVICE FOR EXTENSIBLE CONTINUUM ROBOT MANIPULATORS

被引：0
|
作者：
Frazelle, Chase G. [1 ]
Kapadia, Apoorva [2 ]
Walker, Ian [2 ]
机构：
[1] Clemson Univ, Dept Elect & Comp Engn, Mechatron Lab, Clemson, SC 29630 USA
[2] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29630 USA
来源：
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2017, VOL 5B | 2017年
基金：
美国国家科学基金会;
关键词：
FORCE; MODEL;
D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
We introduce a novel input device for the teleoperation of extensible continuum robots. As opposed to previous works limited by kinematically dissimilar master devices or restricted Degrees-of-Freedom (DoF), a kinematically similar input device capable of nine degrees-of-freedom is designed and used. The device is capable of achieving configurations identical to a three section continuum robot and simplifies the control of such manipulators. In this paper, we outline the design of the input device and its construction. Implementation of the new master device and its effectiveness in regulating a physical system is also discussed.
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页数：7
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