DocumentCode
185454
Title
Force control of grasping operation for a tentacle robot
Author
Florescu, Marian ; Strimbeanu, Daniel ; Matei, Daniela Maria
Author_Institution
Dept. of Eng. & Manage. of Technol. Syst., Univ. of Craiova, Craiova, Romania
fYear
2014
fDate
17-19 Oct. 2014
Firstpage
832
Lastpage
837
Abstract
The paper treats a class of hyper-redundant robots with continuous elements, which performs the function of grasping by coil. First, the dynamic model of the system is deduced. Laws of control are introduced based on the system´s energy for force control problem. It is proposed a method of controlling the force using the DSMC method, showing the evolution of the system on the switching line by controlling the electro-rheological fluid´s viscosity.
Keywords
force control; redundant manipulators; variable structure systems; viscosity; DSMC method; coil; control law; direct sliding mode control; electro-rheological fluid viscosity control; force control; grasping operation; hyper-redundant robots; switching line; system dynamic model; tentacle robot; Coils; Control systems; Force; Grasping; Robots; Viscosity; force control; grasping operation; tentacle robot;
fLanguage
English
Publisher
ieee
Conference_Titel
System Theory, Control and Computing (ICSTCC), 2014 18th International Conference
Conference_Location
Sinaia
Type
conf
DOI
10.1109/ICSTCC.2014.6982522
Filename
6982522
Link To Document