ICRA 2018poster10 citations
A Nonlinear Control Strategy for Extensible Continuum Robots
Chase G. Frazelle, Apoorva D. Kapadia, Ian. D. Walker
Abstract
In this paper, we describe a novel nonlinear control strategy for the closed-loop control of extensible continuum robots. Previous attempts at controlling continuum robots have proved difficult due to the complexity of their system dynamics. Taking advantage of a previously developed dynamic model for a three-section, planar, continuum manipulator, we develop an adaptation-based control law. We present simulation results of a set-point tracking between a rigid-link control device and an extensible continuum manipulator. Experimental results of the controller implemented on a six degree-of-freedom continuum robot are also presented.
BibTeX
@inproceedings{icra2018_anonlinearcontro,
title = {A Nonlinear Control Strategy for Extensible Continuum Robots},
author = {Chase G. Frazelle and Apoorva D. Kapadia and Ian. D. Walker},
booktitle = {ICRA 2018},
year = {2018}
}