RAAD 2017: Advances in Service and Industrial Robotics pp 130-137 | Cite as
Output Control of a Class of Hyper-redundant Robots
Conference paper
First Online:
Abstract
The paper studies the control problem of a class of hyper-redundant robots with uncertain components by using the output control. To avoid the complexity of distributed controllers, in this paper is proposed a lumped output controller. A weighted technique is used to generate a boundary output. A PD controller is proposed and an algorithm for determining the controller gains is discussed. Lyapunov techniques are used to prove the asymptotically stability of the control system. Numerical simulations and prove the efficiency of the method.
Keywords
Hyper-redundant robot Control problem Output controller Lyapunov techniqueReferences
- 1.Robinson G, Davies GBC (1999) Continuum robots – a state of the art. In: Proceedings of the IEEE international conference on robotics and automation, Detroit, pp 2849–2854, May 1999Google Scholar
- 2.Gravagne IA, Walker ID (2000) On the kinematics of remotely - actuated continuum robots. In: Proceedings of the 2000 IEEE international conference on robotics and automation, San Francisco, pp 2544–2550, April 2000Google Scholar
- 3.Gravagne IA, Walker ID (2000) Kinematic transformations for remotely-actuated planar continuum robots. In: Proceedings of the 2000 IEEE international conference on robotics and automation, San Francisco, pp 19–26, April 2000Google Scholar
- 4.Gravagne IA, Walker ID (2002) Uniform regulation of a multi-section continuum manipulators. In: Proceedings of the 2002 IEEE international conference on robotics and automation, Washington DC, pp 1519–1525, May 2002Google Scholar
- 5.Gravagne I, Walker ID (2001) Manipulability and force ellipsoids for continuum robot manipulators. In: 2001 IEEE/RSJ international conference on intelligent robots and systems, Maui, Hawaii, pp 304–310, 29–31 October 2001Google Scholar
- 6.Chirikjian GS, Burdick JW (1990) An obstacle avoidance algorithm for hyper-redundant manipulators. In: Proceedings of the IEEE international conference on robotics and automation, Cincinnati, Ohio, pp 625–631, May 1990Google Scholar
- 7.Mochiyama H, Kobayashi H (1999) The shape Jacobian of a manipulator with hyper degrees of freedom. In: Proceedings of the 1999 IEEE international conference on robotics and automation, Detroit, pp 2837–2842, May 1999Google Scholar
- 8.Li J, Xiao J (2011) Determining grasping configurations for a spatial continuum manipulator. In: 2011 IEEE/RSJ international conference on intelligent robots and systems, San Francisco, pp 4207–4213, 25–30 September 2011Google Scholar
- 9.Walker IM, Hannan M (1999) A novel elephant’s trunk robot. In: AIM 1999, pp 410–415Google Scholar
- 10.Jones B, Walker ID (2006) Practical kinematics for real-time implementation of continuum robots. IEEE Trans Robot 22(6):1087–1099CrossRefGoogle Scholar
- 11.Kapadia AD, Walker ID, Dawson DM (2009) A model – based sliding mode controller for extensible continuum robots. In: Recent advances in signal processing, robotics and automation, ISPRA conference, pp 103–120Google Scholar
- 12.Rucker DC, Webster RJ III, Chirikjian GS, Cowan NJ (2010) Equilibrium conformations of concentric-tube continuum robots. Int J Robot Res 29(10):1263–1280CrossRefGoogle Scholar
- 13.Popescu N, Popescu D, Ivanescu M (2013) A spatial weight error control for a class of hyper-redundant robots. IEEE Trans Robot 29(4):1043–1050 ISSN: 1552-3098CrossRefGoogle Scholar
- 14.Ivanescu M, Popescu N, Popescu D (2015) The shape control of a tentacle arm. Robotica Cambridge J 33(3):684–703CrossRefGoogle Scholar
- 15.Ivanescu M, Popescu N, Popescu D (2015) A decoupled sliding mode control for a continuum arm. Adv Robot Special Issue Continuum Robots Manipulation 29(13):831–845Google Scholar
Copyright information
© Springer International Publishing AG 2018