Large deflection dynamics and control for planar continuum robots

This paper focuses on a class of robot manipulators termed "continuum" robots - robots that exhibit behavior similar to tentacles, trunks, and snakes. In previous work, we studied details of the mechanical design, kinematics, path-planning and small-deflection dynamics for continuum robots such as the Clemson "tentacle manipulator". In this paper, we discuss the dynamics of a planar continuum backbone section, incorporating a large-deflection dynamic model. Based on these dynamics, we formulate a vibration-damping setpoint controller, and include experimental results to illustrate the efficacy of the proposed controller.

I. Introduction

Nature motivates the study and design of hyper-redundant and continuum robots. Although nature often meets locomotive and manipulative needs with rigid-link designs, some creatures benefit greatly from continuum (or nearly continuum) arrangements. Examples include snake Fig. 1. Clemson tentacle manipulator. The manipulator consists of two independent sections on a continuous backbone consisting of a thin elastic rod.