New Dynamic Models for Planar Extensible Continuum Robot Manipulators.pdf

Clemson University College of Engineering and Science Control and Robotics (CRB) Technical Report Number: CU/CRB/8/6/07/#1 Title: New Dynamic Models for Planar Extensible Continuum Robot Manipulators Authors: E. Tatlicioglu, I. D. Walker, and D. M. Dawson New Dynamic Models for Planar Extensible Continuum Robot Manipulators ⋆ Enver Tatlicioglu , Ian D. Walker, and Darren M. Dawson Abstract: In this paper, the dynamic model for planar Walker [18] discussed the limiting-case analysis for a general continuum manipulators that was presented in our previous class of continuum manipulators. However, kinematic control work is extended to include new terms reflecting the effects of continuum robot hardware remains the state of the art due of potential energy. First the gravitational potential energy to the current lack of appropriate dynamic models. of the manipulator is derived. Then, the elastic potential There has been some previous research in dynamic mod- energy of the manipulator is derived for both bending and eling of biologically inspired robot manipulators [19], [20], extension. Finally, the effects of the total potential energy are [21], [22], [23], [24], [25], and [26]. In [19], [20], the authors included in the dynamic model. Numerical simulation results presented dynamic models for snake-like robots where serial are presented for a planar 3-section extensible continuum rigid-link systems are considered. In [21], Yekutieli et al. robot manipulator. The results show a much stronger match presented a 2-D dynamic model for an extensible octopus to physical continuum robots than with prev