A Variable Structure Controller for a Class of Hyper-redundant Arms

Decebal Popescu, Nirvana Popescu, Mircea Ivanescu, Dorin Popescu

2014

Abstract

The paper treats the control problem of a class of hyper-redundant robot constituted by a chain of continuum segments. The technological model basis is a central, long and thin, highly flexible and elastic backbone. The driving system is a decoupled one. The main parameters of the arm control are determined by the curvature and curvature gradient. The dynamic model is inferred. A sliding mode control system is used in order to achieve a desired shape of the arm. The stability of the closed loop control system is proven. Numerical simulations are also provided to verify the effectiveness of the presented approach.

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Paper Citation


in Harvard Style

Popescu D., Popescu N., Ivanescu M. and Popescu D. (2014). A Variable Structure Controller for a Class of Hyper-redundant Arms . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-039-0, pages 121-126. DOI: 10.5220/0005005901210126


in Bibtex Style

@conference{icinco14,
author={Decebal Popescu and Nirvana Popescu and Mircea Ivanescu and Dorin Popescu},
title={A Variable Structure Controller for a Class of Hyper-redundant Arms},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2014},
pages={121-126},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005005901210126},
isbn={978-989-758-039-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A Variable Structure Controller for a Class of Hyper-redundant Arms
SN - 978-989-758-039-0
AU - Popescu D.
AU - Popescu N.
AU - Ivanescu M.
AU - Popescu D.
PY - 2014
SP - 121
EP - 126
DO - 10.5220/0005005901210126