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The Control of the Hyper-redundant Manipulators by Frequency Criteria

Mircea IVĂNESCU1, Mihaela Cecilia FLORESCU1, Nirvana POPESCU2,
Decebal POPESCU2

1 University of Craiova, România, e-mail: ivanescu@robotics.ucv.ro
2 University “Politehnica” Bucharest, România

Abstract: The control problem of hyper-redundant arms with continuum elements by frequency criteria is discussed. First, there is concern with the dynamic model of the continuum arm for the position control during non-contact operations with the environment. A frequency stability criterion based on the Kalman – Yakubovich – Popov Lemma and P and PD control algorithms is proposed. The control algorithms based on SMA actuators are introduced. Numerical simulations of the arm motion toward an imposed target are presented.

Keywords: Hyper-redundant robot, frequency criterion, SMA actuator.

Mircea Ivănescu received the B. Sc. degrees in Automatic Control in 1965 from the University Politehnica Bucharest. He received the 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 the B. Sc. and M. Sc. degrees in Electromechanical Engineering in 1995 and 1996, respectively, from University of Craiova. Now she is 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 Lecturer at the Computer Department, University Politehnica, Bucharest. Her research interests are focused on: Fuzzy Systems, Digital Circuits, Intelligent Adaptive Systems, 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 his Ph.D. degree in Computer Science in 2003 from University Politehnica, Bucharest. Now he is Lecturer at the Computer Department, University Politehnica, Bucharest. His research interests are 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, The Control of the Hyper-redundant Manipulators by Frequency Criteria, Studies in Informatics and Control, ISSN 1220-1766, vol. 18 (3), pp. 279-288, 2009.