Task-space control of extensible continuum manipulators

摘要

In this paper, we present a new approach towards the control of continuous backbone (continuum) “trunk and tentacle” robots. Development of model-based control algorithms for this new and emerging class of robots has been relatively slow due to the inherent complexity of their mathematical models. Based on the recently developed kinematics, velocity Jacobian and full dynamic model, a simple nonlinear task-space controller, established for rigid-link robots, is adapted and extended for continuum manipulators for the regulation of its tip or any location along its backbone in the task-space. This approach is applicable to all continuum robots with extension/contraction and bending capabilities. Simulation results are shown using a three-section, six degree-of-freedom planar continuum robot.