A Model-Based Sliding Mode Controller for Extensible Continuum Robots

被引：0
|
作者：
Kapadia, Apoorva D. [1 ]
Walker, Ian D. [1 ]
Dawson, Darren M. [1 ]
Tatlicioglu, Enver
机构：
[1] Clemson Univ, Dept Elect & Comp Engn, 105A Riggs Hall, Clemson, SC 29634 USA
来源：
ISPRA '09: PROCEEDINGS OF THE 9TH WSEAS INTERNATIONAL CONFERENCE ON SIGNAL PROCESSING, ROBOTICS AND AUTOMATION | 2010年
基金：
美国国家科学基金会;
关键词：
Sliding-Mode Control; Continuum Robot; KINEMATICS;
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：
In this paper, we present a new control strategy for continuous backbone (continuum) "trunk and tentacle" robots. Control of this emerging new class of robots has proved difficult due to the inherent complexity of their dynamics. Using a recently established full dynamic model, we introduce a new nonlinear model-based control strategy for continuum robots. The approach is applicable to continuum robots which can extend/contract as well as bend throughout their structure. Results are illustrated using a three-section, six degree of freedom planar continuum robot.
引用
收藏
页码：113 / +
页数：3
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