Title :
Control by position sensors for a hyper-redundant robot
Author :
Ivanescu, Mircea ; Cojocaru, D. ; Dumitru, Sacerdotianu ; Manta, Florin ; Florescu, Marian
Author_Institution :
Dept. of Autom., Electron. & Mechatron., Univ. of Craiova, Craiova, Romania
Abstract :
The paper treats the control problem for a class of hyper-redundant robots characterized by elastic backbone. The dynamic model of this system is analyzed. A measuring system based on curvature film sensors is proposed and an optical placement technique of sensors is discussed. A control algorithm is introduced by using the concept of boundary geometric control and a weighted state control method. Numerical simulations and experimental results illustrate the presented methods.
Keywords :
manipulator dynamics; redundant manipulators; boundary geometric control; control problem; curvature film sensors; dynamic model; elastic backbone; hyper-redundant robot; measuring system; optical placement technique; position sensors; weighted state control method; Actuators; Automation; Flanges; Robot sensing systems; Sensor phenomena and characterization; control; curvature sensor; dynamic model; 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.2013.6688973
