Date of Award

12-2007

Document Type

Thesis

Degree Name

Master of Science (MS)

Legacy Department

Computer Engineering

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.

Included in

Robotics Commons

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