This paper presents a method to model planar continuum robots with backbone, and introduces a method to control, based on the Jacobian matrix. The model includes forces and moments applied to the robot, and is exact in contrast to constant curvature models. Then the position control strategy is presented to put the robot tip in a desired position. Results are illustrated using a three-section continuum robot.
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Dehghani et al. (2011) studied this question.
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