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Advances in Robot Design and Intelligent Control pp 297–306Cite as

Dynamic Model of a Discrete Planar Tentacle Robot

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 371))

Abstract

In this study, the dynamic model of a tentacle robot in two-dimensional space will be presented. We shall attempt to achieve the discretization of this type of robot, and then, by applying a nonlinear observer, the driving control system of the hyper redundant arm will be achieved. Some results obtained by simulating the robot’s motion will be presented and compared.

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References

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Acknowledgments

This work was supported by the strategic grant POSDRU/159/1.5/S/133255, Project ID 133255 (2014), co-financed by the European Social Fund within the Sectorial Operational Program Human Resources Development 2007–2013.

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Authors and Affiliations

  1. Faculty of Mechanics, University of Craiova, Craiova, Romania

    Mihaela Florescu

  2. Faculty of Automation, Computers and Electronics, University of Craiova, Craiova, Romania

    Mircea Ivanescu

Authors
  1. Mihaela Florescu
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  2. Mircea Ivanescu
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Corresponding author

Correspondence to Mihaela Florescu .

Editor information

Editors and Affiliations

  1. Fac of Auto Ctrl & Comp Sci (Automatica), University Politehnica of Bucharest, Bucharest, Romania

    Theodor Borangiu

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© 2016 Springer International Publishing Switzerland

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Florescu, M., Ivanescu, M. (2016). Dynamic Model of a Discrete Planar Tentacle Robot. In: Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. Advances in Intelligent Systems and Computing, vol 371. Springer, Cham. https://doi.org/10.1007/978-3-319-21290-6_30

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  • DOI: https://doi.org/10.1007/978-3-319-21290-6_30

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-21289-0

  • Online ISBN: 978-3-319-21290-6

  • eBook Packages: EngineeringEngineering (R0)

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