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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

ISBN: 978-989-758-039-0

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.

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Paper citation in several formats:
Popescu, D.; Popescu, N.; Ivanescu, M. and Popescu, D. (2014). A Variable Structure Controller for a Class of Hyper-redundant Arms.In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-039-0, pages 121-126. DOI: 10.5220/0005005901210126

@conference{icinco14,
author={Decebal Popescu. and Nirvana Popescu. and Mircea Ivanescu. and Dorin Popescu.},
title={A Variable Structure Controller for a Class of Hyper-redundant Arms},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2014},
pages={121-126},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005005901210126},
isbn={978-989-758-039-0},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A Variable Structure Controller for a Class of Hyper-redundant Arms
SN - 978-989-758-039-0
AU - Popescu, D.
AU - Popescu, N.
AU - Ivanescu, M.
AU - Popescu, D.
PY - 2014
SP - 121
EP - 126
DO - 10.5220/0005005901210126

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