Book cover International Symposium on Advances in Robot Kinematics ARK 2022: Advances in Robot Kinematics 2022 pp 248–256Cite as A Gazebo Simulator for Continuum Parallel Robots Andrea Gotelli, Federico Zaccaria, Olivier Kermorgant & Sébastien Briot Conference paper First Online: 18 June 2022 336 Accesses Part of the Springer Proceedings in Advanced Robotics book series (SPAR,volume 24) Abstract Continuum Parallel Robots (CPRs) combine properties of continuum and parallel rigid-link robots. They inherit simplicity, compliance, and cost-effectiveness from the first as payload capacity and stiffness from the latter. In this paper, we propose to use Gazebo and ROS to provide a generalized simulator for CPRs, in terms of their joints and geometry, while we use the Cosserat rod theory to model their deformable bodies. We exploit our simulator to solve the direct and inverse geometrico-static models of CPRs and to provide a useful base for simulations.
A Gazebo Simulator for Continuum Parallel Robots / Gotelli A.; Zaccaria F.; Kermorgant O.; Briot S.. - ELETTRONICO. - 24 SPAR:(2022), pp. 248-256. [10.1007/978-3-031-08140-8_27]
A Gazebo Simulator for Continuum Parallel Robots
Zaccaria F.;
2022
Abstract
Book cover International Symposium on Advances in Robot Kinematics ARK 2022: Advances in Robot Kinematics 2022 pp 248–256Cite as A Gazebo Simulator for Continuum Parallel Robots Andrea Gotelli, Federico Zaccaria, Olivier Kermorgant & Sébastien Briot Conference paper First Online: 18 June 2022 336 Accesses Part of the Springer Proceedings in Advanced Robotics book series (SPAR,volume 24) Abstract Continuum Parallel Robots (CPRs) combine properties of continuum and parallel rigid-link robots. They inherit simplicity, compliance, and cost-effectiveness from the first as payload capacity and stiffness from the latter. In this paper, we propose to use Gazebo and ROS to provide a generalized simulator for CPRs, in terms of their joints and geometry, while we use the Cosserat rod theory to model their deformable bodies. We exploit our simulator to solve the direct and inverse geometrico-static models of CPRs and to provide a useful base for simulations.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
