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.

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