曲率
计算机科学
经典力学
物理
控制理论(社会学)
数学
几何学
人工智能
控制(管理)
作者
Yang Liu,Seong Hyo Ahn,Uksang Yoo,Alexander R. Cohen,Farshid Alambeigi
标识
DOI:10.1109/iros45743.2020.9341171
摘要
In this paper, we present an analytical modeling approach to address the problem of tension loss in a generic variable curvature tendon-driven continuum manipulators (TD-CM) occurring due to the tendon-sheath distributed friction force. Despite the previous approaches in the literature, our presented model and the iterative solution algorithm do not rely on a priori known curvature/shape of the TD-CM and can be implemented on any TD-CM with constant/ variable curvatures with a continuous neutral axis function. The performance of the proposed modeling approach in predicting the distributed tendon tension and tension loss has been evaluated via simulation and experimental studies on a TD-CM with planar bending. Results demonstrate the outstanding and accurate performance of our novel modeling and the proposed solution algorithm.
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