Abstract
The paper focuses on the control of a class of hyper-redundant arms with continuum elements, with boundary measuring and control. 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. © 2011 Springer-Verlag.
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CITATION STYLE
Ivanescu, M., Popescu, N., & Florescu, M. (2011). Control system by observer for a hyper-redundant robot. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 7102 LNAI, pp. 275–286). https://doi.org/10.1007/978-3-642-25489-5_27
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