The Curvature Control of a Hyper-redundant Robot
Conference: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
06/02/2014 - 06/03/2014 at München, Germany
Proceedings: ISR/Robotik 2014
Pages: 7Language: englishTyp: PDF
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Authors:
Popescu, Nirvana; Popescu, Decebal (University Politehnica Bucharest, Romania)
Ivanescu, Mircea; Nitulescu, Mircea (University of Craiova, Romania)
Abstract:
The curvature control problem for a class of hyper-redundant robot arms with continuum elements characterized by an elastic backbone system is analyzed. The main parameters of the arm shape as curvature and curvature gradient or Shape Jacobian are estimated. The stability analysis and the resulting controllers are obtained using the concept of boundary geometric control and a weighted state control methods . The proposed algorithm determines the control solutions using the dynamic model expressed in terms of curvature parameters. Numerical simulations illustrate the effectiveness of the presented algorithms and techniques.