Jacobian Matrix of a Novel Continuum Robot for Search and Rescue
2013 ◽
Vol 303-306
◽
pp. 1695-1701
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Keyword(s):
In this paper, a novel continuum robot for search and rescue is presented. A forward kinematic model is derived by product of exponentials formula, compare with conventional D-H method, this method is concise and simplicity. Finally, based on the differential kinematics using the chain rule, the overall Jacobian of the robot is established. This approach can be generally applied to various continuum robots, regardless of the specific actuation system used.
Keyword(s):
2021 ◽
Vol ahead-of-print
(ahead-of-print)
◽
2017 ◽
Vol 40
(11)
◽
pp. 3263-3272
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2019 ◽
pp. 027836491989343
Keyword(s):
2019 ◽
Vol 233
(23-24)
◽
pp. 7658-7668
2019 ◽
pp. 423-431
Keyword(s):