A geometry deformation model for compound continuum manipulators with external loading
S. M. Hadi Sadati, Ali Shiva, Ahmad Ataka, S. Elnaz Naghibi, Ian D. Walker, Kaspar Althoefer, D. P. Thrishantha Nanayakkara
Abstract
The complexity of soft continuum manipulators with hybrid and tuneable structures poses a challenging task to achieve an inverse kinematics model which is both precise and computationally efficient for control and optimization purposes. In this paper, a new method based on the principle of virtual work and a geometry deformation approach is presented for the inverse kinematics model of the STIFF-FLOP arm which is a pneumatically actuated continuum manipulator. We propose a novel simplified and computationally efficient yet accurate analytical solution to analyse the static behaviour of a compound soft manipulator in the presence of external and body forces which is verified against experimental data, showing promising agreement with 10% mean error for planar movements. In the process, we present a new modelling approach for braided soft extensor actuators with no braid-surface relative slip constraint. For the first time, our model predicts a simple analytical solution for the cross section deformation which is essential to control soft manipulators with regional tunable stiffness structure.
BibTeX
@inproceedings{icra2016_ageometrydeforma,
title = {A geometry deformation model for compound continuum manipulators with external loading},
author = {S. M. Hadi Sadati and Ali Shiva and Ahmad Ataka and S. Elnaz Naghibi and Ian D. Walker and Kaspar Althoefer and D. P. Thrishantha Nanayakkara},
booktitle = {ICRA 2016},
year = {2016}
}