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.
引用
收藏
页数：7
相关论文
共 50 条
  • [21] Teleoperation with kinematically redundant robot manipulators with sub-task objectives
    Nath, Nitendra
    Tatlicioglu, Enver
    Dawson, Darren M.
    ROBOTICA, 2009, 27 : 1027 - 1038
  • [22] Empirical Investigation of Closed-Loop Control of Extensible Continuum Manipulators
    Kapadia, Apoorva D.
    Fry, Katelyn E.
    Walker, Ian D.
    2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014), 2014, : 329 - 335
  • [23] Analytical Inverse Kinematics for Two-Segment Extensible Continuum Manipulators
    Xing, Zhiguang
    Yang, Guoguo
    Wang, Pengyuan
    Zheng, Zheng
    Zhao, Jianwen
    JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 2025, 17 (03):
  • [24] A Tendon-Driven Continuum Robot with Extensible Sections
    Thien-Dang Nguyen
    Burgner-Kahrs, Jessica
    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2015, : 2130 - 2135
  • [25] An Extensible Continuum Robot With Integrated Origami Parallel Modules
    Zhang, Ketao
    Qiu, Chen
    Dai, Jian S.
    JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 2016, 8 (03):
  • [26] Manipulability and force ellipsoids for continuum robot manipulators
    Gravagne, IA
    Walker, ID
    IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4: EXPANDING THE SOCIETAL ROLE OF ROBOTICS IN THE NEXT MILLENNIUM, 2001, : 304 - 311
  • [27] Developing Robot Manipulators in Mechatronics and Robotics
    Gomez-Espinosa, Alfonso
    2018 INTERNATIONAL CONFERENCE ON MECHATRONICS, ELECTRONICS AND AUTOMOTIVE ENGINEERING (ICMEAE 2018), 2018, : 44 - 49
  • [28] Type Synthesis of Kinematically Redundant Parallel Manipulators Based on the HEXA Parallel Robot
    Ramos Alvarado, Raymundo
    Castillo Castaneda, Eduardo
    MECHANISM DESIGN FOR ROBOTICS, 2019, 66 : 227 - 234
  • [29] ADAPTIVE NON-LINEAR TRACKING CONTROL OF KINEMATICALLY REDUNDANT ROBOT MANIPULATORS
    Tatlicioglu, E.
    McIntyre, M. L.
    Dawson, D. M.
    Walker, I. D.
    INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2008, 23 (02): : 98 - 105
  • [30] Adaptive non-linear tracking control of kinematically redundant robot manipulators
    Tatlicioglu, E.
    McIntyre, M.L.
    Dawson, D.M.
    Walker, I.D.
    International Journal of Robotics and Automation, 2008, 23 (02): : 98 - 105
12345