DocumentCode
696262
Title
Grasping control of a tentacle arm
Author
Ivanescu, Mircea ; Florescu, Mihaela Cecilia ; Popescu, Nirvana ; Popescu, Decebal
Author_Institution
Univ. of Craiova, Craiova, Romania
fYear
2009
fDate
23-26 Aug. 2009
Firstpage
3076
Lastpage
3081
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 2009 European
Conference_Location
Budapest
Print_ISBN
978-3-9524173-9-3
Type
conf
Filename
7074877
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