Kinematics and dynamics of a cable-like hyper-flexible manipulator

Hiromi Mochiyama, Takahiro Suzuki

Research output: Contribution to journalConference articlepeer-review

64 Citations (Scopus)

Abstract

A Hyper-Flexible Manipulator (HFM, for short) is a kind of continuum robots with a simple mechanical structure like a cable, rope and string, which are useful tools utilized everywhere in various forms. In this paper, in order to achieve dexterous and useful manipulation by this type of robot, we discuss kinematics and dynamics of an HFM. We rigorously derive a spatial, nonlinear and continuum dynamics model with an underactuated mechanism using special kinematics based on curve geometry and theory of robot manipulation.

Original languageEnglish
Pages (from-to)3672-3677
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
Publication statusPublished - 2003 Dec 9
Externally publishedYes
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 2003 Sep 142003 Sep 19

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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