A Variable Length Tentacle Manipulator Control System

The control problem of a class of tentacle arm, with variable length, that can achieve any position and orientation in 3D space and can increase the length in order to get a better control in the constraint operator space is presented. First, the dynamic model of the system is inferred. In order to avoid the difficulties generated by the complexity of the nonlinear integral - differential model, the control problem is based on the artificial potential method. Then, the method is used for constrained motion in an environment with obstacles. Numerical simulations for spatial and planar tentacle models are presented in order to illustrate the efficiency of the method.