DocumentCode
657622
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
fYear
2013
fDate
11-13 Oct. 2013
Firstpage
280
Lastpage
284
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;
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.2013.6688973
Filename
6688973
Link To Document