Optimal Design of Continuum Robots With Reachability Constraints

While multi-joint continuum robots are highly dexterous and flexible, designing an optimal robot can be challenging due to its kinematics involving curvatures. Hence, the current work presents a computational method developed to find optimal designs of continuum robots, given reachability constraint...

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Bibliographic Details

Published in:	IEEE robotics and automation letters Vol. 6; no. 2; pp. 3902 - 3909
Main Authors:	Cheong, Hyunmin, Ebrahimi, Mehran, Duggan, Timothy
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.04.2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Actuators Design Genetic algorithms Inverse kinematics Kinematics methods and tools for robot system design Optimization optimization and optimal control Reachability analysis Robot kinematics Robots soft robot applications Torque
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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