Task and Configuration Space Compliance of Continuum Robots via Lie Group and Modal Shape Formulations
Andrew L. Orekhov,Garrison L. H. Johnston,Nabil Simaan,Andrew L. Orekhov,Garrison L. H. Johnston,Nabil Simaan
Continuum robots suffer large deflections due to internal and external forces. Accurate modeling of their passive compliance is necessary for accurate environmental interaction, especially in scenarios where direct force sensing is not practical. This paper focuses on deriving analytic formulations for the compliance of continuum robots that can be modeled as Kirchhoff rods. Compared to prior work...
