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

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.

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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.