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International Conference on Robotics in Alpe-Adria Danube Region

RAAD 2017: Advances in Service and Industrial Robotics pp 130–137Cite as

Output Control of a Class of Hyper-redundant Robots

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Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 49))

Abstract

The paper studies the control problem of a class of hyper-redundant robots with uncertain components by using the output control. To avoid the complexity of distributed controllers, in this paper is proposed a lumped output controller. A weighted technique is used to generate a boundary output. A PD controller is proposed and an algorithm for determining the controller gains is discussed. Lyapunov techniques are used to prove the asymptotically stability of the control system. Numerical simulations and prove the efficiency of the method.

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Author information

Authors and Affiliations

  1. University of Craiova, Craiova, Romania

    Mircea Ivanescu, Mircea Nitulescu, Nguyen Van Dong Hai & Mihaela Florescu

Authors
  1. Mircea Ivanescu
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  2. Mircea Nitulescu
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  3. Nguyen Van Dong Hai
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  4. Mihaela Florescu
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Corresponding author

Correspondence to Mircea Ivanescu .

Editor information

Editors and Affiliations

  1. Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Turin, Italy

    Carlo Ferraresi

  2. Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Turin, Italy

    Giuseppe Quaglia

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© 2018 Springer International Publishing AG

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Cite this paper

Ivanescu, M., Nitulescu, M., Van Dong Hai, N., Florescu, M. (2018). Output Control of a Class of Hyper-redundant Robots. In: Ferraresi, C., Quaglia, G. (eds) Advances in Service and Industrial Robotics. RAAD 2017. Mechanisms and Machine Science, vol 49. Springer, Cham. https://doi.org/10.1007/978-3-319-61276-8_15

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  • DOI: https://doi.org/10.1007/978-3-319-61276-8_15

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-61275-1

  • Online ISBN: 978-3-319-61276-8

  • eBook Packages: EngineeringEngineering (R0)

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