DocumentCode
2591314
Title
3D Control for a Tronconic Tentacle
Author
Boccolato, Giuseppe ; Dinulescu, Ionut ; Predescu, Alice ; Manta, Florin ; Dumitru, Sorin ; Cojocaru, Dorian
Author_Institution
Mechatron. Dept., Univ. of Craiova, Craiova, Romania
fYear
2010
fDate
24-26 March 2010
Firstpage
380
Lastpage
385
Abstract
This paper deals with the control problem, simulation and implementation, for a class of hyper redundant manipulators - a tronconic tentacle arms. A tentacle robot produces changes of configuration using a continuous backbone made of sections which bend. A tentacle arm has a variable length and theoretically it can achieve any position and orientation in 3D space. A tentacle arm prototype was designed and the practical realization is now running. A solution for kinematics of this arm is presented.
Keywords
motion control; redundant manipulators; 3D control; hyper redundant manipulators; kinematics; tentacle robot; tronconic tentacle arms; Automatic control; Cables; Computational modeling; Computer simulation; Manipulators; Mechatronics; Motion control; Prototypes; Robot kinematics; Spine; modelling; motion control; tentacle robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Computer Modelling and Simulation (UKSim), 2010 12th International Conference on
Conference_Location
Cambridge
Print_ISBN
978-1-4244-6614-6
Type
conf
DOI
10.1109/UKSIM.2010.77
Filename
5480442
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