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
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;
Conference_Titel :
System Theory, Control and Computing (ICSTCC), 2014 18th International Conference
Conference_Location :
Sinaia
DOI :
10.1109/ICSTCC.2014.6982522
