A review for modeling and control of flexible continuum robots
Flexible continuum robot is a new type of robot inspired by biological biomimetic structure.This type of ro-bot is made of elastic materials that can produce both continuous and large deformation with strong structural flexibility and high flexibility.Therefore,continuum robots are widely used in industry,disaster search and rescue,equipment maintenance,aerospace,and the medical fields.They have become a hotspot in the development of a new generation of robots because they can overcome the shortcomings of traditional rigid body robots in dealing with complex environ-ments.As a consequence,they have become a hot topic in the development of robots.In this paper,the research results of continuum robots in recent years are summarized from three aspects:the research background,modeling method and control scheme of continuum robots.The continuum robot's design and structural elements as well as its practical appli-cations are introduced.The modeling methods for continuum robots were introduced from two aspects:kinematic and dy-namic modeling,analyzed the main control schemes of continuum robots,and elaborated on the issues that need to be paid attention to in control design of continuum robots.Finally,the development direction of flexible continuum robots is prospected from aspects such as system integration and openness,intelligent human-machine interaction,and multimod-al information fusion.
continuum robotflexible robotbionic robotmodeling of robotcontrol of robot
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