Date of Award
12-2007
Document Type
Thesis
Degree Name
Master of Science (MS)
Legacy Department
Computer Engineering
Committee Chair/Advisor
Walker, Ian
Committee Member
Pagano , Chris
Committee Member
Hoover , Adam
Abstract
We introduce a novel, intuitive user interface for continuum manipulators through the use of various joystick mappings. This user interface allows for the effective use of continuum manipulators in the lab and in the field. A novel geometric approach is developed to produce a more intuitive understanding of continuum manipulator kinematics. Using this geometric approach we derive the first closed-form solution to the inverse kinematics problem for continuum robots. Using the derived inverse kinematics to convert from workspace coordinates to configuration space coordinates we develop a potential-field path planner for continuum manipulators.
Recommended Citation
Csencsits, Matt, "Operational Strategies for Continuum Manipulators" (2007). All Theses. 284.
https://tigerprints.clemson.edu/all_theses/284