Title :
Grasping control of a tentacle arm
Author :
Ivanescu, Mircea ; Florescu, Mihaela Cecilia ; Popescu, Nirvana ; Popescu, Decebal
Author_Institution :
Univ. of Craiova, Craiova, Romania
Abstract :
In this paper, the problem of a class of hyperredundant arms with continuum elements that performs the grasping function by coiling is discussed. This function is often met in the animal world as the elephant´s trunk or octopus tentacle. First, the dynamic model in 3D-space is developed. The equations that describe the motion of the arm that carries a load by coiling are inferred. The stability of the motion is discussed. Numerical simulations of the motion toward a imposed target are presented.
Keywords :
flexible manipulators; manipulator dynamics; redundant manipulators; stability; 3D-space; arm motion; coiling; continuum elements; dynamic model; grasping control; grasping function; hyperredundant arms; motion stability; numerical simulation; tentacle arm; Dynamics; Fluids; Force; Grasping; Mathematical model; Robots; Vectors;
Conference_Titel :
Control Conference (ECC), 2009 European
Conference_Location :
Budapest
Print_ISBN :
978-3-9524173-9-3
