Control of a Discrete Planar Tentacle Robot
Journal Title: RECENT - Year 2011, Vol 12, Issue 33
Abstract
The paper deals with a special class of robotic arm, the tentacle robot. First, the discrete dynamic model of the tentacle arm is analyzed. The dynamic model of the hyper-redundant arm with continuum elements in conjunction with the electro-rheological fluid is discussed and the discrete planar model based to the nonlinear observer will be developed. Also, numerical simulations of the arm motion are presented.
Authors and Affiliations
Mihaela FLORESCU
Keywords
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Control of a Discrete Planar Tentacle Robot
The paper deals with a special class of robotic arm, the tentacle robot. First, the discrete dynamic model of the tentacle arm is analyzed. The dynamic model of the hyper-redundant arm with continuum elements in conjunct...