Authors:
Decebal Popescu
1
;
Nirvana Popescu
1
;
Mircea Ivanescu
2
and
Dorin Popescu
2
Affiliations:
1
POLITEHNICA University of Bucharest, Romania
;
2
University of Craiova, Romania
Keyword(s):
Hyper-redundant Robot, Continuum Arms, Control.
Related
Ontology
Subjects/Areas/Topics:
Distributed Control Systems
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Modeling, Analysis and Control of Hybrid Dynamical Systems
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
The paper treats the control problem of a class of hyper-redundant robot constituted by a chain of continuum segments. The technological model basis is a central, long and thin, highly flexible and elastic backbone. The driving system is a decoupled one. The main parameters of the arm control are determined by the curvature and curvature gradient. The dynamic model is inferred. A sliding mode control system is used in order to achieve a desired shape of the arm. The stability of the closed loop control system is proven. Numerical simulations are also provided to verify the effectiveness of the presented approach.