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
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;
Conference_Titel :
System Theory, Control and Computing (ICSTCC), 2013 17th International Conference
Conference_Location :
Sinaia
Print_ISBN :
978-1-4799-2227-7
DOI :
10.1109/ICSTCC.2013.6688963
