Forward Kinematics and Control of a Segmented Tunable-Stiffness 3-D Continuum Manipulator
Shivangi Misra,Cynthia Sung,Shivangi Misra,Cynthia Sung
In this work, we consider the problem of controlling the end effector position of a continuum manipulator through local stiffness changes. Continuum manipulators offer the advantage of continuous deformation along their lengths, and recent advances in smart material actuators further enable local compliance changes, which can affect the manipulator's bulk motion. However, leveraging local stiffnes...
