Position-Access Workspace of Slender Soft Manipulators-Reference-Cited by-同舟云学术

Position-Access Workspace of Slender Soft Manipulators

Published:2022-09-12 Issue:6 Volume:14 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Amehri Walid¹,Zheng Gang²¹,Kruszewski Alexandre¹

Affiliation:

1. Univ. Lille Inria , CNRS Centrale Lille, UMR 9189 CRIStAL, F-59000 Lille , France

2. Foshan University School of Mathematics and Big Data, , Foshan 528000 , China ;

Abstract

Abstract In this article, we investigate the position-access workspace estimation of slender soft manipulators controlled via arranged bounded actuators. For this, we implement a so-called forward-backward approach on the mathematical model of the investigated soft robot deduced via the adopted Discrete Cosserat method. The proposed methodology is validated on several planar and spatial slender soft manipulators’ configurations, where we show its advantage of reducing computation complexity for estimating the workspace, compared to traditional forward approach.

Funder

Agence Nationale de la Recherche

National Natural Science Foundation of China

Publisher

ASME International

Subject

Mechanical Engineering

Link

https://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/14/6/061001/6917699/jmr_14_6_061001.pdf

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