Modeling and control of a planar continuum robot

2011 ◽  
Author(s):  
Mohammad Dehghani ◽  
S. Ali A. Moosavian
Keyword(s):  
Modeling And Control ◽  
Continuum Robot ◽  
And Control

scholarly journals Modeling and Control of Aerial Continuum Manipulation Systems: A Flying Continuum Robot Paradigm

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 176883-176894
Author(s):  
Zahra Samadikhoshkho ◽  
Shahab Ghorbani ◽  
Farrokh Janabi-Sharifi
Keyword(s):  
Modeling And Control ◽  
Continuum Robot ◽  
And Control

scholarly journals Coupled Dynamic Modeling and Control of Aerial Continuum Manipulation Systems

2021 ◽  
Vol 11 (19) ◽  
pp. 9108
Author(s):  
Zahra Samadikhoshkho ◽  
Shahab Ghorbani ◽  
Farrokh Janabi-Sharifi
Keyword(s):  
Dynamic Modeling ◽  
Sliding Mode ◽  
Control Technique ◽  
Adaptive Sliding Mode Control ◽  
Modeling And Control ◽  
Practical Applications ◽  
Lagrange Formulation ◽  
Continuum Robot ◽  
Aerial Vehicle ◽  
And Control

Aerial continuum manipulation systems (ACMSs) were newly introduced by integrating a continuum robot (CR) into an aerial vehicle to address a few issues of conventional aerial manipulation systems such as safety, dexterity, flexibility and compatibility with objects. Despite the earlier work on decoupled dynamic modeling of ACMSs, their coupled dynamic modeling still remains intact. Nonlinearity and complexity of CR modeling make it difficult to design a coupled ACMS model suitable for practical applications. This paper presents a coupled dynamic modeling for ACMSs based on the Euler–Lagrange formulation to deal with CR and the aerial vehicle as a unified system. For this purpose, a general vertical take-off and landing vehicle equipped with a tendon-driven continuum arm is considered to increase the dexterity and compliance of interactions with the environment. The presented model is independent of the motor’s configuration and tilt angles and can be applied to model any under/fully actuated ACMS. The modeling approach is complemented with a Lyapunov-wise stable adaptive sliding mode control technique to demonstrate the validity of the proposed method for such a complex system. Simulation results in free flight motion scenarios are reported to verify the effectiveness of the proposed modeling and control techniques.

Dynamic Modeling for a Continuum Robot With Compliant Structure

2015 ◽  
Author(s):  
Yong Guo ◽  
Rongjie Kang ◽  
Lisha Chen ◽  
Jian Dai
Keyword(s):  
Continuum Robots ◽  
Modeling And Control ◽  
3 Dimensional ◽  
Compliant Structure ◽  
Continuum Robot ◽  
Mass Damper ◽  
Spring System ◽  
External Forces ◽  
And Control ◽  
Good Agreement

Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance and safety. However, the modeling and control of such robots are complex in comparison with conventional rigid ones. This paper presents the design of a pneumatically actuated continuum robot. A 3-dimensional dynamic model is then developed by using the mass-damper-spring system based networks, in which elastic deformation, actuating forces and external forces are taken into account. The model is validated by experiments and shows good agreement with the robotic prototype.

Modeling and Control for Plant Dynamics Based on Reinforcement Learning

2009 ◽  
Vol 129 (4) ◽  
pp. 363-367
Author(s):  
Tomoyuki Maeda ◽  
Makishi Nakayama ◽  
Hiroshi Narazaki ◽  
Akira Kitamura
Keyword(s):  
Reinforcement Learning ◽  
Modeling And Control ◽  
Plant Dynamics ◽  
And Control
Sign in / Sign up

Export Citation Format

Share Document