Lagrangian dynamics and nonlinear control of a continuum manipulator

Yan Yu; Peng Qi; Kaspar Althoefer; H. K. Lam

doi:10.1109/ROBIO.2015.7419052

Lagrangian dynamics and nonlinear control of a continuum manipulator

Yan Yu, Peng Qi, Kaspar Althoefer, H. K. Lam

King's College London

Research output: Contribution to journal › Conference paper › peer-review

10 Citations (Scopus)

Abstract

This paper presents a study on dynamics and nonlinear control strategies of a type of continuum manipulators that possess both bending and contractile capabilities. First, based on curve geometry under the Frenet frame, kinematics of the continuum manipulator is established. Then, both the kinetics and potential energies are considered for dynamic control. By applying the Euler-Lagrangian equation of motion, the system dynamics equation is obtained. According to this dynamic model, two control methods are developed, which are the inverse dynamics control and the sliding mode control, respectively. In the end, the MATLAB simulations are conducted to demonstrate the feasibility and effectiveness of these two control strategies.

Original language	English
Pages (from-to)	1912-1917
Number of pages	6
Journal	2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) 6-9 Dec. 2015
DOIs	https://doi.org/10.1109/ROBIO.2015.7419052
Publication status	Published - 24 Feb 2016
Event	IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 - Zhuhai, China Duration: 6 Dec 2015 → 9 Dec 2015

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title = "Lagrangian dynamics and nonlinear control of a continuum manipulator",

abstract = "This paper presents a study on dynamics and nonlinear control strategies of a type of continuum manipulators that possess both bending and contractile capabilities. First, based on curve geometry under the Frenet frame, kinematics of the continuum manipulator is established. Then, both the kinetics and potential energies are considered for dynamic control. By applying the Euler-Lagrangian equation of motion, the system dynamics equation is obtained. According to this dynamic model, two control methods are developed, which are the inverse dynamics control and the sliding mode control, respectively. In the end, the MATLAB simulations are conducted to demonstrate the feasibility and effectiveness of these two control strategies.",

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AU - Yu, Yan

AU - Qi, Peng

AU - Althoefer, Kaspar

AU - Lam, H. K.

PY - 2016/2/24

Y1 - 2016/2/24

N2 - This paper presents a study on dynamics and nonlinear control strategies of a type of continuum manipulators that possess both bending and contractile capabilities. First, based on curve geometry under the Frenet frame, kinematics of the continuum manipulator is established. Then, both the kinetics and potential energies are considered for dynamic control. By applying the Euler-Lagrangian equation of motion, the system dynamics equation is obtained. According to this dynamic model, two control methods are developed, which are the inverse dynamics control and the sliding mode control, respectively. In the end, the MATLAB simulations are conducted to demonstrate the feasibility and effectiveness of these two control strategies.

AB - This paper presents a study on dynamics and nonlinear control strategies of a type of continuum manipulators that possess both bending and contractile capabilities. First, based on curve geometry under the Frenet frame, kinematics of the continuum manipulator is established. Then, both the kinetics and potential energies are considered for dynamic control. By applying the Euler-Lagrangian equation of motion, the system dynamics equation is obtained. According to this dynamic model, two control methods are developed, which are the inverse dynamics control and the sliding mode control, respectively. In the end, the MATLAB simulations are conducted to demonstrate the feasibility and effectiveness of these two control strategies.

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M3 - Conference paper

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EP - 1917

JO - 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) 6-9 Dec. 2015

JF - 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO) 6-9 Dec. 2015

T2 - IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

Y2 - 6 December 2015 through 9 December 2015

ER -

Lagrangian dynamics and nonlinear control of a continuum manipulator

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