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The shape control of tentacle arms

Published online by Cambridge University Press:  09 April 2014

Mircea Ivanescu ,
Nirvana Popescu  and
Decebal Popescu
Mircea Ivanescu*
Affiliation:
Department of Mechatronics, University of Craiova, Craiova, Romania
Nirvana Popescu
Affiliation:
Department of Computer Science, University Politehnica Bucharest, Bucharest, Romania
Decebal Popescu
Affiliation:
Department of Computer Science, University Politehnica Bucharest, Bucharest, Romania
*
*Corresponding author. Email: al-ivanescu@robotics.ucv.ro
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Summary

The paper discusses the shape control problem related to a class of hyper-redundant robot arms with continuum elements, i.e. tentacle arms. A spatial weighted technique for sensor measurements is used in order to facilitate the parameter estimation. The paper focuses on the shape control by using the curvature gradient a constant parameter along the segment arm. The conditions that ensure a constant curvature gradient for a class of tentacle arms characterized by elastic backbone are determined. A sensor network distributed along the robot arm is used for the shape control. The main parameters of the arm shape, curvature and curvature gradient or “shape” Jacobian for the control problem are estimated. Two measuring systems are used: a) a distributed angle sensor network and b) a curvature sensor placed at the end of the arm segment. The stability analysis and the resulting controllers are obtained using the concept of boundary geometric control and the weighted state control methods. The shape control algorithms for dynamic models with uncertain components are proposed. Numerical simulations and experimental results illustrate the effectiveness of the above mentioned algorithms.

Keywords

Redundant manipulatorsRobot dynamicsControl of robotic systemsMechatronic systemsSensor or actuator design
Type
Articles
Information
Robotica , Volume 33 , Issue 3 , March 2015 , pp. 684 - 703
Copyright
Copyright © Cambridge University Press 2014 

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