Finite circular elements for modeling of continuum robots. Dehghani, M. and Moosavian, S. A. A. In 2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM), pages 480–485, October, 2014.
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This paper presents a new approach to dynamics modeling of continuum robots. In this approach, continuum robots are considered as a series of circular elements. First, the dynamics of an element is modeled. Then, a method is proposed to couple dynamics of any number of elements. Hence, a continuum robot can be modeled by any desired number of circular elements. As far as the authors know, this is the first time that a method for finite circular elements is presented. Besides good precision, this model requires reasonable computational efforts. Thus, the proposed model can be used in real-time control applications. Finally, the model is validated using experimental data. The model simulation results match the experimental trajectories with good precision, which shows the merit of the proposed approach.
@inproceedings{dehghani_finite_2014,
	title = {Finite circular elements for modeling of continuum robots},
	doi = {10.1109/ICRoM.2014.6990948},
	abstract = {This paper presents a new approach to dynamics modeling of continuum robots. In this approach, continuum robots are considered as a series of circular elements. First, the dynamics of an element is modeled. Then, a method is proposed to couple dynamics of any number of elements. Hence, a continuum robot can be modeled by any desired number of circular elements. As far as the authors know, this is the first time that a method for finite circular elements is presented. Besides good precision, this model requires reasonable computational efforts. Thus, the proposed model can be used in real-time control applications. Finally, the model is validated using experimental data. The model simulation results match the experimental trajectories with good precision, which shows the merit of the proposed approach.},
	booktitle = {2014 {Second} {RSI}/{ISM} {International} {Conference} on {Robotics} and {Mechatronics} ({ICRoM})},
	author = {Dehghani, M. and Moosavian, S. A. A.},
	month = oct,
	year = {2014},
	keywords = {Computational modeling, Continuum robot, Numerical models, Potential energy, Robots, Shape, Tendons, computational efforts, continuum robots modeling, dynamics modeling, experimental trajectories, finite circular elements, finite element analysis, real-time control applications, robot dynamics, trajectory control},
	pages = {480--485}
}
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