Control System by Observer for a Hyper-redundant Robot

被引：0
|
作者：
Ivanescu, Mircea [1 ]
Popescu, Nirvana [2 ]
Florescu, Mihaela [1 ]
机构：
[1] Univ Craiova, 13 Cuza St, Craiova 200585, Romania
[2] Univ Politehn Bucuresti, Independentei 060042, Romania
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS, PT II | 2011年 / 7102卷
关键词：
hyper-redundant arms; observer; control;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The paper focuses on the control of a class of hyper-redundant arms with continuum elements, with boundary measuring and control. First, the dynamic model of the continuum arm is presented. The measuring systems are based on the film sensors that are placed at the terminal sub-regions of the arm. The observers are proposed in order to reconstruct the full state of the arm. A back-stepping method is used to design a boundary control algorithm. Numerical simulations of the arm motion toward an imposed position are presented. An experimental platform shows the effectiveness of the proposed methods.
引用
收藏
页码：275 / +
页数：3
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