A Boundary Sensor Control for a Hyper-redundant Arm

作者：Ivanescu Mircea^*; Cojocaru Dorian; Bizdoaca Nicu; Florescu Mihaela; Popescu Nirvana; Popescu Decebal; Dumitru Sorin

来源：Studies in Informatics and Control, 2010, 19(4): 391-395.

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.

• 出版日期2010-12