3D Control for a Tronconic Tentacle

This paper deals with the control problem, simulation and implementation, for a class of hyper redundant manipulators - a tronconic tentacle arms. A tentacle robot produces changes of configuration using a continuous backbone made of sections which bend. A tentacle arm has a variable length and theoretically it can achieve any position and orientation in 3D space. A tentacle arm prototype was designed and the practical realization is now running. A solution for kinematics of this arm is presented.