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Kinematic Model and Workspace Analysis of Tendon-driven Continuum Robots
並列摘要
Continuum robots have excited increasing attention and effort from robotic community due to their high dexterity and safety. This paper designs a continuum robot equipped with an elastic backbone structure and tendon-driven system. The kinematic model of such robot is formulated and a novel approach to analyze the workspace is developed by identifying the interference between the backbone structure and the actuated tendons. An optimization function is then used to achieve appropriate compromise between the workspace and the internal space of the robot, which provides an evaluation criterion for the robot design.
被引用紀錄
羅尹聰 (2012). 透過隱馬可夫模型預測使用者行為進行在智慧型手機上的耗電量優化 [master's thesis, National Tsing Hua University]. Airiti Library. https://www.airitilibrary.com/Article/Detail?DocID=U0016-0908201218155234
延伸閱讀
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- 黃鈞正（2007）。structural synthesis of tendon-driven robotic manipulators using singular value decomposition method〔碩士論文，國立臺灣大學〕。華藝線上圖書館。https://doi.org/10.6342/NTU.2007.02544
- Mendili, M., & Bouani, F. (2017). Predictive Control of Mobile Robot Using Kinematic and Dynamic Models. Journal of Control Science and Engineering, 2017(), 1-11-033. https://doi.org/10.1155/2017/5341381
- 廖哲成（2015）。Kinematic Calibration of Robot Manipulators Based on Particle Swarm Optimization Algorithm〔碩士論文，淡江大學〕。華藝線上圖書館。https://doi.org/10.6846/TKU.2015.00066
- 顏宏哲（2004）。COMPLIANCE ANALYSIS AND TENDON FORCE CONTROL FOR TENDON-DRIVEN ROBOTIC MECHANISMS WITH FLEXIBLE TENDONS〔碩士論文，國立臺灣大學〕。華藝線上圖書館。https://doi.org/10.6342/NTU.2004.01504