A Boundary Sensor Control for a Hyper-redundant Arm

被引：0
|
作者：
Ivanescu, Mircea [1 ]
Cojocaru, Dorian [1 ]
Bizdoaca, Nicu [1 ]
Florescu, Mihaela [1 ]
Popescu, Nirvana [2 ]
Popescu, Decebal [2 ]
Dumitru, Sorin [1 ]
机构：
[1] Univ Craiova, Dept Mcchatron, Craiova 200585, Romania
[2] Univ Politech, Dept Comp, Bucharest, Romania
来源：
STUDIES IN INFORMATICS AND CONTROL | 2010年 / 19卷 / 04期
关键词：
MANIPULATORS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper treats the control problem of a class of hyper-redundant robots with continuum elements with sensors placed on the terminal points of the arm segments. The dynamic model of the arm is presented. The measuring system is based on the sensors placed at the several sub-regions of the arm. A full state control is introduced and an observer is proposed in order to reconstruct the state. A control algorithm is generated by the back-stepping method.
引用
收藏
页码：391 / 395
页数：5
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