Jacobian matrix of a novel continuum robot for search and rescue

被引：4
|
作者：
Meng, Guangzhu [1 ]
Sun, Lingyu [1 ]
Peng, Ping [1 ]
Meng, Xianchun [1 ]
Wang, Hongmei [1 ]
Zhang, Jianwei [2 ]
机构：
[1] Hebei Univ Technol, Sch Mech Engn, Tianjin 300130, Peoples R China
[2] Fengfeng Grp Xuecun Mine Electromech Dist, Handan 056107, Peoples R China
来源：
SENSORS, MEASUREMENT AND INTELLIGENT MATERIALS, PTS 1-4 | 2013年 / 303-306卷
关键词：
continuum robot; search and rescue; forward kinematics; product of exponentials; Jacobian; KINEMATICS;
D O I：
10.4028/www.scientific.net/AMM.303-306.1695
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
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.
引用
收藏
页码：1695 / +
页数：2
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