A model-based sliding mode controller for extensible continuum robots

Abstract

In this paper, we present a new control strategy for continuous backbone (continuum) trunk and tentacle robots. Control of this emerging new class of robots has proved difficult due to the inherent complexity of their dynamics. Using a recently established full dynamic model, we introduce a new nonlinear model-based control strategy for continuum robots. The approach is applicable to continuum robots which can extend/contract as well as bend throughout their structure. Results are illustrated using a three-section, six degree of freedom planar continuum robot.