Abstract
This paper presents a new hyper-redundant robotic arm structure and its sensorial, driving and control systems. A system of cables actuated by DC motors is used for bending. The position of the robot can be obtained by bending it with the cables and by blocking the position of the needed elements using an electro pneumatic system. The major advantage of this type of actuator consists in the fact that the robot can be moved using a boundary control by cables with a single actuating unit, the position blocking system for any element being relatively simple. The main features and advantages of the sensorial system and global robot system are presented. The dynamic model of the arm is developed using Lagrange’s formalism; the motion control system is based on the adaptive computed-torque method. Finally, experimental results are described.
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Stoian, V., Vladu, I.C., Vladu, I. (2016). A New Hyper-Redundant Arm and Control System. 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_29
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DOI: https://doi.org/10.1007/978-3-319-21290-6_29
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