Saturday , December 15 2018

A Compliance Control of a Hyperredundant Robot

Mircea IVĂNESCU, Mihaela Cecilia FLORESCU
University of Craiova, Romania

Nirvana POPESCU, Decebal POPESCU
University Politechnica Bucharest, Romania

Abstract: The grasping control problem for a hyperredundant arm is studied. First, the dynamic model of the arm is analyzed. The control problems are divided in the subproblems: the position control in a desired reaching area, the control of the arm around the object-load and the force control of grasping. The difficulties determined by the complexity of the non-linear integral-differential equations are avoided by using a very basic energy relationship of this system. First, the dynamic control of the arm for a desired reaching area is inferred. Then, the position control and the force control for grasping are discussed. Numerical simulations are presented.

Keywords: Distributed parameter systems, force control, grasping, hyperredundant robots.

Mircea Ivănescu received his B.Sc. degree in Automatic Control in 1965 from the University Politehnica Bucharest. He received his Ph.D. degree in Control Systems in 1975. Now, he is a Professor at the Department of Mechatronics, University of Craiova. His research interests are focused on: Distributed Parameter Systems, Discrete Optimization Problems, Fuzzy Systems, Nonlinear Systems, and Robotics.

Mihaela Cecilia Florescu received her B. Sc. and M. Sc. degrees in Electromechanical Engineering in 1995 and 1996, respectively, from University of Craiova. Now she is a Lecturer at the Mechatronics Department, University of Craiova. Her research interests are focused on: Distributed Parameter Systems, Fuzzy Systems, and Robotics.

Nirvana Popescu received her B.Sc. and M. Sc. degrees in Computer Science in 1997 and 1998, respectively, from University Politehnica, Bucharest. She received the Ph.D. degree in Computer Science in 2003 from University Politehnica, Bucharest. Now she is a Lecturer at the Computer Department, University Politehnica, Bucharest. Her research interests are focused on: Fuzzy Systems, Digital Circuits, Intelligent Adaptive Systems, and Vision Control.

Decebal Popescu received his B. Sc. and M. Sc. degrees in Computer Science in 1997 and 1998, respectively, from University Politehnica, Bucharest. He received the Ph.D. degree in Computer Science in 2003 from University Politehnica, Bucharest. Now he is a Lecturer at the Computer Department, University Politehnica, Bucharest. His research interest is focused on: Fuzzy Systems, Digital Circuits, VLSI circuits, and Robotics.

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CITE THIS PAPER AS:
Mircea IVĂNESCU, Mihaela Cecilia FLORESCU,  Nirvana POPESCU, Decebal POPESCU, A Compliance Control of a Hyperredundant Robot, Studies in Informatics and Control, ISSN 1220-1766, vol. 17 (2), pp. 189-200, 2008.