A variable length hyperredundant arm control system

Author

Ivanescu, Mircea ; Popescu, Nirvana ; Popescu, Decebal

Author_Institution

Dept. of Mechatronics, Craiova Univ., Romania

Volume

4

fYear

2005

fDate

29 July-1 Aug. 2005

Firstpage

1998

Abstract

The control problem of a class of hyperredundant 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 models are presented in order to illustrate the efficiency of the method.

Keywords

flexible manipulators; integro-differential equations; nonlinear differential equations; position control; redundant manipulators; Lagrange model; artificial potential method; constrained motion; dynamic model; hyperredundant arm control system; nonlinear integral-differential model; planar model; spatial model; Arm; Control systems; Fluid dynamics; Kinematics; Manipulator dynamics; Mechatronics; Robots; Shape control; Space technology; Spine;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2005 IEEE International Conference

Print_ISBN

0-7803-9044-X

Type

conf

DOI

10.1109/ICMA.2005.1626869

Filename

1626869