Abstract
In order to avoid the collision of space manipulation, a space continuum robot with passive structural flexibility is proposed. This robot is composed of two continuum joints with elastic backbone and driving tendons made of NiTi alloy. The kinematic mapping and the Jacobian matrix are obtained through the kinematic analysis. Moreover, an inverse kinematics based closed-loop controller is designed to achieve position tracking. Finally, a simulation and an experiment is carried out to validate the workspace and control algorithm respectively. The results show that this robot can follow a given trajectory with satisfactory accuracy.
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CITATION STYLE
Geng, S., Wang, Y., Wang, C., & Kang, R. (2018). A space tendon-driven continuum robot. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 10942 LNCS, pp. 25–35). Springer Verlag. https://doi.org/10.1007/978-3-319-93818-9_3
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