DocumentCode
657612
Title
Fuzzy control algorithm for a tentacle robot arm
Author
Florescu, Marian
Author_Institution
Dept. of Eng. & Manage. of Technol. Syst., Univ. of Craiova, Craiova, Romania
fYear
2013
fDate
11-13 Oct. 2013
Firstpage
219
Lastpage
224
Abstract
This paper studies the control problem for a type of hyper-redundant robot arms. The kinematic control for inverse model and the dynamic model of the tentacle robot will be studied. Next, the fuzzy control algorithm for this manipulator will be treated, taking into account two different cases, namely the desired position is time variable or the desired position isn´t time variable. Also, the numerical simulations, which illustrated the presented algorithm, are presented.
Keywords
fuzzy control; manipulator dynamics; redundant manipulators; dynamic model; fuzzy control algorithm; hyper-redundant robot arms; inverse model; kinematic control; manipulator; numerical simulations; tentacle robot arm; Fuzzy control; Kinematics; Manipulators; Mathematical model; Niobium; Service robots; dynamic model; fuzzy control; hyper-redundant robot;
fLanguage
English
Publisher
ieee
Conference_Titel
System Theory, Control and Computing (ICSTCC), 2013 17th International Conference
Conference_Location
Sinaia
Print_ISBN
978-1-4799-2227-7
Type
conf
DOI
10.1109/ICSTCC.2013.6688963
Filename
6688963
Link To Document