Friday , April 19 2024

A Boundary Sensor Control for a Hyper-redundant Arm

Mircea IVANESCU
Department of Mechatronics, University of Craiova
13, Al. I. Cuza Street, Craiova, 200585, Romania
Dorian COJOCARU
Department of Mechatronics, University of Craiova
13, Al. I. Cuza Street, Craiova, 200585, Romania
Nicu BIZDOACA
Department of Mechatronics, University of Craiova
13, Al. I. Cuza Street, Craiova, 200585, Romania
Mihaela FLORESCU
Department of Mechatronics, University of Craiova
13, Al. I. Cuza Street, Craiova, 200585, Romania

Nirvana POPESCU
Computer Department, University Politechnica, Bucharest
313, Splaiul Independenţei, Bucharest, ROMANIA
Decebal POPESCU
Computer Department, University Politechnica, Bucharest
313, Splaiul Independenţei, Bucharest, ROMANIA
Sorin DUMITRU
Department of Mechatronics, University of Craiova
13, Al. I. Cuza Street, Craiova, 200585, ROMANIA

Abstract: The paper treats the control problem of a class of hyper-redundant robots with continuum elements with sensors placed on the terminal points of the arm segments. The dynamic model of the arm is presented. The measuring system is based on the sensors placed at the several sub-regions of the arm. A full state control is introduced and an observer is proposed in order to reconstruct the state. A control algorithm is generated by the back-stepping method.

Keywords: Robots, continuum elements, kinematic model, boundary sensor.

>>Full text
CITE THIS PAPER AS:
Mircea IVANESCU, Dorian COJOCARU, Nicu BIZDOACA,  Mihaela FLORESCU, Nirvana POPESCU, Decebal POPESCU, Sorin DUMITRU, A Boundary Sensor Control for a Hyper-redundant Arm, Studies in Informatics and Control, ISSN 1220-1766, vol. 19 (4), pp. 391-396, 2010.

1. Introduction

The paper treats the control problem of a class of hyper-redundant robots with continuum elements. The control of these systems is very complex and a great number of researchers have tried to offer solutions. In [2, 3], Gravagne analyzed the kinematic models. Important results were obtained by Chirikjian and Burdick [4], which laid the foundations for the kinematical theory of hyper-redundant robots. Their results are based on a “backbone curve” that captures the robot’s macroscopic geometric features. Mochiyama has also investigated the problem of controlling the shape of an HDOF rigid – link robot with two-degree-of-freedom joints using spatial curves [5]. In other papers [6, 7], several technological solutions for actuators used in hyper-redundant structures are presented and conventional control systems are introduced. In [8] control problem of a class that performs the grasping function by coiling is discussed. A frequential stability criterion for the grasping control problem is proposed in [9,10,11].

In this paper, control problem of continuum arms with boundary sensors is treated. Standard feedback control design assumes full-state feedback with measurements of the entire state. Practical constraints require a boundary placement of the sensors. In this case, the development of the state-feedback controllers needs to design state observers.

The paper is organized as follows: section 2 presents technological and theoretical preliminaries, section 3 studies the dynamic model, and section 4 presents the control by boundary observer.

REFERENCES:

  1. Hemami, A., Design of Light Weight Flexible Robot Arm, Robots 8 Conf. Proc., Detroit, June 1984, pp. 1623-1640.
  1. Gravagne, Ian A., Ian D. Walker, On the Kinematics of Remotely – Actuated Continuum Robots, Proc. 2000 IEEE Intl. Conf. on Robotics and Aut., San Francisco, April 2000, pp. 2544-2550.
  2. Gravagne, Ian A., Walker, Ian D., Kinematic Transformations for Remotely-Actuated Planar Continuum Robots, Proc. 2000 IEEE Intl. Conf. on Robotics and Aut., San Francisco, April 2000, pp. 19-26.
  3. Chirikjian, G. S., J. W. Burdick, , An Obstacle Avoidance Algorithm for Hyper-redundant Manipulators, Proc. IEEE Intl. Conf. on Robotics and Aut. Cincinnati, May 1990, pp. 625 – 631.
  4. Mochiyama, H., H. Kobayashi, , The Shape Jacobian of a Manipulator with Hyper Degrees of Freedom, Proc. 1999 IEEE Intl. Conf. on Robotics and Aut., Detroit, May 1999, pp. 2837- 2842.
  5. Robinson, G., J. B. C. Davies, Continuum Robots – a State of the Art, Proc. 1999 IEEE Intl. Conf. on Robotics and Aut., Detroit, May 1999, pp. 2849-2854.
  6. Ivanescu, M., V. Stoian, A Variable Structure Controller for a Tentacle Manipulator, Proc. IEEE Intl. Conf. on Robotics and Aut., Nagoya, 1995, pp. 3155-3160.
  7. Ivanescu, M., M. C. Florescu, N. Popescu, D. Popescu, Position and Force Control of the Grasping Function for a Hyper-redundant Arm, Proc. IEEE Intl. Conf. on Robotics and Aut., Pasadena, 2008, pp. 2599-2604.
  8. Ivanescu, M., N. Bizdoaca, M. Florescu, N. Popescu, D. Popescu, Frequency Criteria for the Grasping Control of a Hyper-redundant Robot, Proc. IEEE Intl. Conf. on Robotics and Aut., Anchorage, May 2010, pp. 1542-1549.
  9. Ivanescu, M., M. Florescu, N. Popescu, D. Popescu, The Control of the Hyper-redundant Manipulator by Frequency Criteria, in rev. Studies in Informatics and Control, Sept. 2009, vol. 18(3), ISSN 1220-1766, pp. 279-288.
  10. Ivanescu, M., M. Florescu, N. Popescu, D. Popescu, A Compliance Control of a Hyper-redundant Robot, in rev. Studies in Informatics and Control, ISSN 1220-1766, June 2008, vol.17, no.2, pp. 189 – 200.
  11. Miller, D. W., S. A. Collins, S. P. Peltzman, Development of Spatially Convolving Sensors for Structural Control Applications, 31st AIAA Structures, Structural Dynamic and Materials Conference, 1992, paper 90 – 1127.
  12. Krstic, M., A. Smyshlyaev, Boundary Control of PDEs: A Short Course on Backstepping Design, VCSB, 2006.
  13. Krstic, M., Compensation of Infinite – Dimensional Actuator and Sensor Dynamic, IEEE Control Systems, Feb. 2010, vol. 30(1), pp. 22-41.
  14. Camarillo, D., C. Milne, Mechanics Modeling of Tendon – Driven Continuum Manipulators, IEEE Trans. On Robotics, vol. 24(6), Dec. 2008, pp. 1262-1273.

https://doi.org/10.24846/v19i4y201006

Designed by | ICI Bucharest
© Copyright 2024, All Rights Reserved