The paper focuses on the control problem of a hyperredundant robot that performs the coil function of grasping. First, the dynamic model of a hyperredundant arm with continuum elements produced by flexible composite materials in conjunction with active-controllable electrorheological fluids is analyzed. Secondly, both problems, i.e. the position control and the force control are approached. The difficulties determined by the complexity of the non-linear integral-differential equations are avoided by using a basic energy relationship of this system. Energy-based control laws are introduced for the position control problem. A force control method is proposed, namely the DSMC method in which the evolution of the system on the switching line by the ER fluid viscosity is controlled. Numerical simulations are also presented.
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.
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