Energy Based Control for a Hyperredundant Manipulator

Abstract The paper presents the control problem for a hyperredundant arm, a tentacle model. The difficulties determined by the complexity of the nonlinear integral differential equations are avoided by using a very basic energy relationship of the system. A PD control laws are discussed. Numerical simulations for spatial and planar tentacle models are presented.

[1]  Li-Xin Wang,et al.  Analysis and design of hierarchical fuzzy systems , 1999, IEEE Trans. Fuzzy Syst..

[2]  Gregory S. Chirikjian.  A continuum approach to hyper-redundant manipulator dynamics , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

[3]  Shoichi Iikura,et al.  Development of flexible microactuator and its applications to robotic mechanisms , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[4]  Mircea Ivanescu,et al.  A variable structure controller for a tentacle manipulator , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[5]  Gregory S. Chirikjian,et al.  An obstacle avoidance algorithm for hyper-redundant manipulators , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[6]  J. Bruce C. Davies,et al.  Continuum robots - a state of the art , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[7]  Gregory S. Chirikjian,et al.  A general numerical method for hyper-redundant manipulator inverse kinematics , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[8]  Hiromi Mochiyama,et al.  The shape Jacobian of a manipulator with hyper degrees of freedom , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[9]  Gregory S. Chirikjian,et al.  Kinematically optimal hyper-redundant manipulator configurations , 1995, IEEE Trans. Robotics Autom..

[10]  Karun B. Shimoga,et al.  Robot Grasp Synthesis Algorithms: A Survey , 1996, Int. J. Robotics Res..

[11]  Shuzhi Sam Ge,et al.  Energy-based robust controller design for multi-link flexible robots , 1996 .

[12]  P.K.C. Wang.  Control of Distributed Parameter Systems1 , 1964 .

[13]  Mircea Ivanescu,et al.  Dynamic Control for a Tentacle Manipulator , 1984 .

[14]  Ian A. Gravagne,et al.  On the kinematics of remotely-actuated continuum robots , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).