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This paper presents general modal dual Quaternion (DQ) kinematics for multisection continuum arms. DQ's produce higher accuracy than homogeneous transformation matrices (HTM) when transformed to modal shape functions (MSF) of similar order and are numerically stable. Thus, the model is compact, more accurate and computationally efficient than the modal kinematics proposed by the author based on HTM's...
While the field of continuum manipulators has been the subject of increasing attention from the robotics community, knowledge of their inherent capabilities is still limited. Controllers have been proposed that exploit the null-space of redundant continuum manipulators, however studies of the nature of continuum robot null-spaces have not yet been done. In this paper, we first develop a convenient...
In this paper, teleoperated control of a kinematically redundant, continuum slave manipulator with a non-redundant, rigid-link master system is considered. This problem is novel because the self-motion of the redundant robot can be utilized to achieve secondary control objectives while allowing the user to concentrate on controlling only the tip of the slave system. To that end, feedback linearizing...
This paper presents new results in the cooperative manipulation of objects by two or more manipulators. The case of contact due to additional manipulators grasping, or regrasping, a common object held by one or more manipulators is discussed. A model of instantaneous contact is derived, and the impulse force generated by contact found, based on the dynamic models of the manipulators and object. Applications...
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