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다중-유닛 연속체 로봇 컨트롤을 위한 마스터 디바이스의 정기구학 해Forward Kinematic Solution of a Master Device for controlling Multi-unit Continuum Robots
- Other Titles
- Forward Kinematic Solution of a Master Device for controlling Multi-unit Continuum Robots
- Issue Date
- May-2010
- Publisher
- 제어로봇시스템학회
- Keywords
- Continuum Robot; Forward Kinematics; Master Device
- Citation
- ICROS Annual Conference 2010, pp 360 - 364
- Pages
- 5
- Indexed
- OTHER
- Journal Title
- ICROS Annual Conference 2010
- Start Page
- 360
- End Page
- 364
- Abstract
- This work presents a master device for multi-unit continuum robots. Each continuum unit of the device is similar to parallel kinematic mechanism that has a unique forward kinematic solution. Thus, it can be used as a master device to control its slave robot. The forward kinematic solution of a 4-DOF continuum robot consisting of two continuum units and design of this device is presented. This design is slim-sized, light-weighted, and easy to implement. Two unit modules are assembled to generate 4 DOF. The derived kinematic solution is verified through a simulation.
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)