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
Springer Proceedings in Advanced Robotics
International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022
2022-06-18
9 pages
Article/Chapter (Book)
Electronic Resource
English
A Gazebo Simulator for Continuum Parallel Robots
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