On the control problem of a hyper-redundant arm

Konferenz: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
07.06.2010 - 09.06.2010 in Munich, Germany

Tagungsband: ISR/ROBOTIK 2010

Seiten: 6Sprache: EnglischTyp: PDF

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Ivanescu, Mircea; Florescu, Mihaela (Mechatronics Department, University of Craiova, A. I. Cuza street, no. 13, 200585, Romania)
Popescu, Nirvana; Popescu, Decebal (Computer Science Department, University Politehnica Bucharest, Splaiul Independentei street, no. 313, 060042, Romania)

The paper treats the control problem of the hyper-redundant arms that perform the grasping function by coiling. First, the dynamic model of the continuum arm for the position control is studied. A frequency stability criterion based on the KLP Lemma and P and PD control techniques are proposed. The control algorithms based on SMA actuators are introduced. Numerical simulations of the arm motion are presented.