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 language | English |
|---|---|
| Pages (from-to) | 3672-3677 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 3 |
| Publication status | Published - 2003 Dec 9 |
| Externally published | Yes |
| Event | 2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China Duration: 2003 Sep 14 → 2003 Sep 19 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering