Abstract
This article provides a tutorial on the dynamic modeling of continuum robots. Continuum robots (CRs) have gained popularity in recent years due to their flexible backbone structure. Modeling and control of CRs motivate accurate and efficient dynamic models. Such models will enable simulation of dynamic behavior, improved structural design, and the development of dynamics-based control systems for CRs. As a unified underlying approach, the Cosserat rod-based modeling of tendon-driven CRs is used as the basis of the modeling techniques discussed in this paper. In addition to conventional continuum robot assemblies, new and emerging assemblies such as tendon-bent concentric tube and co-operative robots are also considered. The governing equations of motion for conventional CRs are first summarized and then extended for other tendon-driven CRs. This tutorial also contributes to developing a MATLAB code package for simulation of the dynamic response of these robots. The presented method and codes provide a useful and compact resource for readers and can be used for further development of tendon-driven continuum robots.
Highlights
Continuum robots (CRs) have become the subject of intensive research due to their advantages over conventional rigid-link robotic manipulators [1]–[3]
The methods were accompanied by the corresponding simulation codes to help interested readers in repeating the simulations and/or conducting their case studies
It should be noted that for a single section tendon-driven continuum robot, experimental validation and the numerical results based on the calibrated parameters of the arm have already been reported in [28]
Summary
Continuum robots (CRs) have become the subject of intensive research due to their advantages over conventional rigid-link robotic manipulators [1]–[3]. The dynamic equations are first introduced for single continuum robots and extended to other robots All these robots are assumed to be modeled as tendon-driven Cosserat rod backbone CRs. A numeric simulation is developed and the dynamic response of each robot is visualized. The method and the simulation code presented in this tutorial provide a systematic procedure capable of solving various configurations This tutorial contributes to developing a MATLAB package for dynamic simulation of various tendon-driven CRs. dynamic modeling of tendon-bent concentric tube CRs are introduced for the first time and the related limitations and assumptions are discussed. The corresponding code will be available freely for the readers in Code Ocean
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