The Frenet-Serret manipulator

摘要

The Frenet-Serret manipulators are robotic arms for whole-arm manipulation. This type of manipulator has the same kinematic structure same as the Frenet-Serret apparatus of a spatial curve which is a tool for expressing the geometric features of the curve in classical differential geometry. We developed a Frenet-Serret manipulator with three joint units each of which has roll-pitch two degree-of-freedom. We show the design concept, specification, mechanical structure and driving mechanism of the developed Frenet-Serret manipulator. We also show a recursive regressor form of the dynamics which is utilized for system identification and control of the manipulator.