Active uncoiling and feeding of a continuum arm robot

D. Palmer, D. Axinte

Research output: Journal PublicationArticlepeer-review

15 Citations (Scopus)

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 languageEnglish
Pages (from-to)107-116
Number of pages10
JournalRobotics and Computer-Integrated Manufacturing
Volume56
DOIs
Publication statusPublished - Apr 2019
Externally publishedYes

Keywords

  • Coiling
  • Continuum
  • Control
  • Robot
  • Tip Following

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics (all)
  • Computer Science Applications
  • Industrial and Manufacturing Engineering

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