Frequency criteria for the grasping control of a hyper-redundant robot

Ivănescu, Mircea; Bizdoaca, Nicu George; Florescu, Mihaela; Popescu, Nirvana; Popescu, Decebal

doi:10.1109/robot.2010.5509549

Cited by 20 publications

(10 citation statements)

References 11 publications

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“…Figure 8 shows the error evolution during the Sequence 1 and Fig. A control algorithm (4.5) with K 1 = diag (25,15), K 2 = diag (8, 4) is used.These control coefficients meet the conditions (4.6), (4.7). A 3-D control for a coiling motion of a load represented by a cyllinder with the radix r = 0.1 is simulated.…”

Section: Problem a The Measuring Of The Curvature Is Obtained By A Dmentioning

confidence: 99%

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The shape control of tentacle arms

Ivănescu

Popescu

2014

Robotica

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The paper discusses the shape control problem related to a class of hyper-redundant robot arms with continuum elements, i.e. tentacle arms. A spatial weighted technique for sensor measurements is used in order to facilitate the parameter estimation. The paper focuses on the shape control by using the curvature gradient a constant parameter along the segment arm. The conditions that ensure a constant curvature gradient for a class of tentacle arms characterized by elastic backbone are determined. A sensor network distributed along the robot arm is used for the shape control. The main parameters of the arm shape, curvature and curvature gradient or "shape" Jacobian for the control problem are estimated. Two measuring systems are used: a) a distributed angle sensor network and b) a curvature sensor placed at the end of the arm segment. The stability analysis and the resulting controllers are obtained using the concept of boundary geometric control and the weighted state control methods. The shape control algorithms for dynamic models with uncertain components are proposed. Numerical simulations and experimental results illustrate the effectiveness of the above mentioned algorithms.

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Section: Problem a The Measuring Of The Curvature Is Obtained By A Dmentioning

confidence: 99%

“…These arms are mechanical structures with continuum elements described by distributed parameter models. 15 A frequency stability criterion for the grasping control problem is advanced in Ivanescu. Robinsonand Davies 1 introduced the notion of continuum elements.…”

Section: Introductionmentioning

confidence: 99%

The shape control of tentacle arms

Ivănescu

Popescu

2014

Robotica

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“…By actuating this cables section curvature is obtained. The number of cables for each section represents a major disadvantage because of the actuation system complexity, from the constructive and control point of view [1][2][3][4][5][6][7][8][9][10][11][12].…”

Section: Fig 1 Example Of a Trunks Manipulatormentioning

confidence: 99%

Sensorial system for hyper-redundant arm

Vladu

Stoian

Vladu

et al. 2014

2014 18th International Conference on System Theory, Control and Computing (ICSTCC)

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This paper presents the sensorial system for structure of a backbone hyper-redundant arm with an electropneumatically system for position control. A system of cables actuated by DC motors is used for bending. Control system is based on a PIC microcontroller. The position of the robot can be obtained by bending it with the cables and by blocking the position of the elements we need, using the electro-pneumatically system. The major advantage of this type of actuation consists in the fact that the robot can be actuated using a boundary control by cables, the position blocking system for any element being relatively simple. The sensorial system is described and the main features of the global system are presented. The advantages of this sensorial system for this robot architecture are discussed.

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“…Cable-driven continuum robot control with variable stiffness was studied in [13]. In [14][15][16] were studied the kinematics of multi-section continuum robots. Several biomimetic robotic prototypes with undulating actuation have been developed in [17,18].…”

Section: Introductionmentioning

confidence: 99%

Some Aspects Regarding the Information Security Management System within Organizations – Adopting the ISO/IEC 27001:2013 Standard

Florescu¹,

Nguyen²,

Ivănescu³

2015

SIC

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Abstract:The paper studies the output tracking control problem of a class of hyper-redundant robotic arms described by hyperbolic equations. The stability analysis and the resulting controllers are obtained by using the concept of boundary geometric control and an output tracking technique. A conventional PD control is proposed and analysed. Then, for a dynamic model with uncertain components, a robust algorithm is discussed. The output stability is analysed. Numerical simulations are also provided to verify the effectiveness of the approach presented.

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Frequency criteria for the grasping control of a hyper-redundant robot

Cited by 20 publications

References 11 publications

The shape control of tentacle arms

The shape control of tentacle arms

Sensorial system for hyper-redundant arm

Some Aspects Regarding the Information Security Management System within Organizations – Adopting the ISO/IEC 27001:2013 Standard

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