The paper treats the control problem of a class of
hyper-redundant robots with continuum elements with sensors placed on the
terminal points of the arm segments. The dynamic model of the arm is presented.
The measuring system is based on the sensors placed at the several sub-regions
of the arm. A full state control is introduced and an observer is proposed in
order to reconstruct the state. A control algorithm is generated by the
back-stepping method.
Articol
A Boundary Sensor Control for a Hyper-redundant Arm.
Studies in Informatics and Control
Volum 19 | Număr 04 | Publicat la 24/12/2010 | ISSN 1220-1766 | eISSN 1841-429X
Mircea
Ivanescu
Mircea
Ivanescu
[1]
[1]
University of Craiova
Rezumat
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