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Modeling and Dynamic Control of Continuum Robots with Improved State Parameterization

Piecewise Constant Curvature (PCC) hypothesis has been proved to be efficient for describing the kinematics and dynamics of continuum robots. But its conventional parameterization method suffers from many issues that limit its application in dynamic control as singularities -mainly about the straight configuration of the robots. In this paper, an alternative improved state parameterization has been introduced to solve the discussed problems. Numerical simulations are provided to support the theoretical results. The system can perform tasks without any pathological behaviors when applying the improved state parameterization.