Boundary Control by Boundary Observer for Hyper-redundant Robots

被引：0
|
作者：
Ivanescu, M. [1 ]
Cojocaru, D. [1 ]
Bizdoaca, N. [1 ]
Florescu, M. [1 ]
Popescu, N. [2 ]
Popescu, D. [2 ]
Dumitru, S. [1 ]
机构：
[1] Univ Craiova, Mechatron Dept, Craiova, Romania
[2] Univ Politehn Bucuresti, Dept Comp Sci, Bucharest, Romania
来源：
INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL | 2010年 / 5卷 / 05期
关键词：
hyper-redundant system; distributed parameter system; observer; control;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The control problem of a class of hyper-redundant arms with continuum elements, with boundary measuring and control is discussed. First, the dynamic model of the continuum arm is presented. The measuring systems are based on the film sensors that are placed at the terminal sub-regions of the arm. The observers are proposed in order to reconstruct the full state of the arm. A back-stepping method is used to design a boundary control algorithm. Numerical simulations of the arm motion toward an imposed position are presented. An experimental platform shows the effectiveness of the proposed methods.
引用
收藏
页码：755 / 767
页数：13
相关论文
共 50 条
  • [1] A Boundary Sensor Control for a Hyper-redundant Arm
    Ivanescu, Mircea
    Cojocaru, Dorian
    Bizdoaca, Nicu
    Florescu, Mihaela
    Popescu, Nirvana
    Popescu, Decebal
    Dumitru, Sorin
    [J]. STUDIES IN INFORMATICS AND CONTROL, 2010, 19 (04): : 391 - 395
  • [2] Control System by Observer for a Hyper-redundant Robot
    Ivanescu, Mircea
    Popescu, Nirvana
    Florescu, Mihaela
    [J]. INTELLIGENT ROBOTICS AND APPLICATIONS, PT II, 2011, 7102 : 275 - +
  • [3] Output Control of a Class of Hyper-redundant Robots
    Ivanescu, Mircea
    Nitulescu, Mircea
    Nguyen Van Dong Hai
    Florescu, Mihaela
    [J]. ADVANCES IN SERVICE AND INDUSTRIAL ROBOTICS, 2018, 49 : 130 - 137
  • [4] A Modular Control Scheme for Hyper-redundant Robots
    Cho, Chang Nho
    Jung, Hyunchul
    Son, Jaebum
    Kim, Kwang Gi
    [J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2015, 12
  • [5] A controller for hyper-redundant cooperative robots
    Ivanescu, M
    Stoian, V
    [J]. 1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3: INNOVATIONS IN THEORY, PRACTICE AND APPLICATIONS, 1998, : 167 - 172
  • [6] Dynamic model for hyper-redundant robots
    Manta, Liviu Florin
    Dumitru, Sorin
    Cojocaru, Dorian
    [J]. 2014 18TH INTERNATIONAL CONFERENCE SYSTEM THEORY, CONTROL AND COMPUTING (ICSTCC), 2014, : 845 - 849
  • [7] A Spatial Weight Error Control for a Class of Hyper-Redundant Robots
    Popescu, Nirvana
    Popescu, Decebal
    Ivanescu, Mircea
    [J]. IEEE TRANSACTIONS ON ROBOTICS, 2013, 29 (04) : 1043 - 1050
  • [8] On hyper-redundant multiple-link robots
    Lenarcic, J
    [J]. LABORATORY ROBOTICS AND AUTOMATION, 1996, 8 (01) : 11 - 16
  • [9] A SIDEWINDING LOCOMOTION GAIT FOR HYPER-REDUNDANT ROBOTS
    BURDICK, JW
    RADFORD, J
    CHIRIKJIAN, GS
    [J]. ADVANCED ROBOTICS, 1995, 9 (03) : 195 - 216
  • [10] Development of a Biomorphic and Hyper-Redundant Caecilian Based Robots
    Fabico, Karl
    Hernandez, Jan Karlo M.
    Plata, Simon Joseph P.
    Puzon, Kevin B.
    Sipin, Jeremy M.
    Bandala, Argel A.
    [J]. TENCON 2017 - 2017 IEEE REGION 10 CONFERENCE, 2017, : 2369 - 2373
12345