Localized Helix Configurations of Discrete Cosserat Rods

2019 ◽  
pp. 191-198
Author(s):  
Vanessa Dörlich ◽  
Tomas Hermansson ◽  
Joachim Linn
Keyword(s):  
Cosserat Rods

Stiffness Control of Parallel Continuum Robots

2018 ◽  
Author(s):  
Vincent Aloi ◽  
Caroline Black ◽  
Caleb Rucker
Keyword(s):  
Position Control ◽  
Target Position ◽  
Human Robot Interaction ◽  
Force Measurements ◽  
Modeling Framework ◽  
Continuum Robots ◽  
Integral Control ◽  
Control Approach ◽  
Cosserat Rods ◽  
Stiffness Control

Parallel continuum robots can provide compact, compliant manipulation of tools in robotic surgery and larger-scale human robot interaction. In this paper we address stiffness control of parallel continuum robots using a general nonlinear kinetostatic modeling framework based on Cosserat rods. We use a model formulation that estimates the applied end-effector force and pose using actuator force measurements. An integral control approach then modifies the commanded target position based on the desired stiffness behavior and the estimated force and position. We then use low-level position control of the actuators to achieve the modified target position. Experimental results show that after calibration of a single model parameter, the proposed approach achieves accurate stiffness control in various directions and poses.

scholarly journals An Energy Conserving Numerical Scheme for the Dynamics of Hyperelastic Rods

2012 ◽  
Vol 2012 ◽  
pp. 1-15 ◽  
Author(s):  
Thorsten Fütterer ◽  
Axel Klar ◽  
Raimund Wegener
Keyword(s):  
Numerical Method ◽  
Numerical Scheme ◽  
Hyperelastic Materials ◽  
Cosserat Rods ◽  
Energy Conserving ◽  
Potential Forces

A numerical method for special Cosserat rods based on Antman's description Antman, 2005 is developed for hyperelastic materials and potential forces. This method preserves the relevant properties of the underlying PDE system, namely, the orthonormality of the directors and the conservation of the energy.

Cosserat Rods with Projective Dynamics

2018 ◽  
Vol 37 (8) ◽  
pp. 137-147 ◽  
Author(s):  
Carlota Soler ◽  
Tobias Martin ◽  
Olga Sorkine-Hornung
Keyword(s):  
Cosserat Rods

STRAIGHTFORWARD COMPUTATION OF SPATIAL EQUILIBRIA OF GEOMETRICALLY EXACT COSSERAT RODS

2005 ◽  
Vol 15 (03) ◽  
pp. 949-965 ◽  
Author(s):  
T. J. HEALEY ◽  
P. G. MEHTA
Keyword(s):  
Boundary Conditions ◽  
Path Following ◽  
General Boundary ◽  
General Boundary Conditions ◽  
Efficient Computation ◽  
Cosserat Rods ◽  
Straightforward Computation ◽  
Well Posed ◽  
Nonlinearly Elastic

In this paper, we present a well posed "force" based formulation for nonlinearly elastic Cosserat rods with general boundary conditions enabling straightforward, efficient computation of spatial equilibria. We illustrate the ease and utility of our approach in four example problems, each exhibiting large spatial buckling, employing the path-following software AUTO.

scholarly journals Multi-body dynamics simulation of geometrically exact Cosserat rods

2010 ◽  
Vol 25 (3) ◽  
pp. 285-312 ◽  
Author(s):  
Holger Lang ◽  
Joachim Linn ◽  
Martin Arnold
Keyword(s):  
Dynamics Simulation ◽  
Cosserat Rods ◽  
Body Dynamics ◽  
Multi Body
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