2018
Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz-Galerkin Methods
RA-L 2018
To address the challenges with real-time accurate modeling of multisegment continuum manipulators in the presence of significant external and body loads, we introduce a novel series solution for variable-curvature Cosserat rod static and Lagrangian dynamic methods. By combining a modified Lagrange p