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
相关论文
共 50 条
  • [31] Structure design of a miniature and jumping robot for search and rescue
    Wang, Xueying
    Yang, Xiaojing
    JOURNAL OF ENGINEERING-JOE, 2019, (13): : 219 - 224
  • [32] Underwater Robot Terrain Modeling Search and Rescue Algorithm
    Tian, Hua
    An, Xueyu
    Wu, Binghang
    Bian, Haowei
    2024 9TH ASIA-PACIFIC CONFERENCE ON INTELLIGENT ROBOT SYSTEMS, ACIRS, 2024, : 192 - 198
  • [33] A review of locomotion mechanisms of urban search and rescue robot
    Wang, Zhelong
    Gu, Hong
    INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2007, 34 (05): : 400 - 411
  • [34] A game for robot operation training in Search and Rescue missions
    Goncalves, R.
    Baptista, R.
    Coelho, A.
    Matos, A.
    de Carvalho, C. Vaz
    Bedkowski, J.
    Musialik, P.
    Ostrowski, I.
    Majek, K.
    2014 11TH INTERNATIONAL CONFERENCE ON REMOTE ENGINEERING AND VIRTUAL INSTRUMENTATION (REV), 2014, : 262 - 267
  • [35] Multiple Format Search and Rescue Robot as a Competitive Arena
    Chiou, Andrew
    CULTURAL COMPUTING, 2010, 333 : 1 - 8
  • [36] MULTI-ROBOT DEPLOYMENT FOR WILDERNESS SEARCH AND RESCUE
    Macwan, Ashish
    Vilela, Julio
    Nejat, Goldie
    Benhabib, Beno
    INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2016, 31 (01): : 45 - 51
  • [37] Design of the control station system for the search and rescue robot
    Wang, Minghui
    Wang, Nan
    Li, Bin
    Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument, 2010, 31 (8 SUPPL.): : 245 - 248
  • [38] A Rapidly Reconfigurable Robot for Assistance in Urban Search and Rescue
    Hunt, Alexander J.
    Bachmann, Richard J.
    Murphy, Robin R.
    Quinn, Roger D.
    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2011, : 209 - 214
  • [39] Research of Insertion Mechanism of Flexible Search and Rescue Robot
    Shen, Linyong
    Zhu, Qian
    Qiu, Ya
    Cao, Yuanfei
    Ding, Hang
    INTERNATIONAL CONFERENCE ON ENGINEERING TECHNOLOGY AND APPLICATION (ICETA 2015), 2015, 22
  • [40] A novel search strategy for autonomous search and rescue robots
    Sariel, S
    Akin, HL
    ROBOCUP 2004: ROBOT SOCCER WORLD CUP VIII, 2005, 3276 : 459 - 466
12345