Abstract
Continuum arms are becoming more popular for use in inspection and repair of hard to reach environments, typically in-situ. These applications characteristically have less space outside the scenario as well as internally. Previous approaches require a significant footprint in this area, potentially limiting the possible exploitations. The algorithm reported within this paper demonstrates a method to actively coil / uncoil a continuum arm on a helical drum, which can be applied to multiple trajectories within a practical computation time. Deviations from desired trajectory are below 3 mm or 1° individual steps calculated on average in 0.031 s, or complete computation for new trajectory within 170 s.
Original language | English |
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Pages (from-to) | 107-116 |
Number of pages | 10 |
Journal | Robotics and Computer-Integrated Manufacturing |
Volume | 56 |
DOIs | |
Publication status | Published - Apr 2019 |
Keywords
- Coiling
- Continuum
- Control
- Robot
- Tip Following
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- General Mathematics
- Computer Science Applications
- Industrial and Manufacturing Engineering