Continuous Backbone “Continuum” Robot Manipulators
نویسندگان
چکیده
منابع مشابه
Continuous Backbone “Continuum” Robot Manipulators: A Review
This paper describes and discusses the history and state of the art of continuous backbone robot manipulators. Also known as continuum manipulators, these robots, which resemble biological trunks and tentacles, offer capabilities beyond the scope of traditional rigid link manipulators. They are able to adapt their shape to navigate through complex environments and grasp a wide variety of payloa...
متن کاملAn Adaptive Impedance Controller for Robot Manipulators
A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...
متن کاملAdaptive RBF network control for robot manipulators
TThe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. This paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. As a novelty, the proposed controller employs a simple Gaussian Radial-Basis-Function Network as an uncertainty estimator. The proposed netw...
متن کاملCartesian path generation of robot manipulators using continuous genetic algorithms
In this paper, the authors describe a novel technique based on continuous genetic algorithms (CGAs) to solve the path generation problem for robot manipulators. We consider the following scenario: given the desired Cartesian path of the end-effector of the manipulator in a free-of-obstacles workspace, off-line smooth geometric paths in the joint space of the manipulator are obtained. The invers...
متن کاملDesign and Analysis of a Novel Tendon-less Backbone Robot
A new type of backbone robot is presented in this paper. The core idea is to use a cross shape mechanism with the principle of functioning of the scissors linkages, known as a pantograph. Although this continuum arm acts quite similar to tendon-driven robot, this manipulator does not include any tendon in its structure. This design does not suffer from the weaknesses of the continuum design suc...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: ISRN Robotics
سال: 2013
ISSN: 2090-8806
DOI: 10.5402/2013/726506