Jacobian Matrix of a Novel Continuum Robot for Search and Rescue

Guang Zhu Meng; Ling Yu Sun; Ping Peng; Xian Chun Meng; Hong Mei Wang; Jian Wei Zhang

doi:10.4028/www.scientific.net/AMM.303-306.1695

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 303-306Jacobian Matrix of a Novel Continuum Robot for...

Jacobian Matrix of a Novel Continuum Robot for Search and Rescue

Abstract:

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.

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Periodical:

Applied Mechanics and Materials (Volumes 303-306)

Pages:

1695-1701

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.303-306.1695

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Online since:

February 2013

Authors:

Guang Zhu Meng, Ling Yu Sun, Ping Peng, Xian Chun Meng, Hong Mei Wang, Jian Wei Zhang

Keywords:

Continuum Robot, Forward Kinematics, Jacobian, Product of Exponentials, Rescue, Search

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