Paper Title:
3D Control for a Truncated Cone Tentacle Kinematics
  Abstract

This paper presents the architecture, simulation, implementation and control problem for a class of continuum manipulators – the truncated cone tentacle arm. Desired shape for a tentacle robot is obtained by bending each of the three serial connected sections of a continuous backbone. Such tentacle arm has a fixed length but it can achieve any position and orientation in 3D space. A tentacle arm prototype was designed and the practical realization is now running. For this prototype we present a finite element model, for simulation purposes, we propose a kinematic model to be used in the control structure, and we conducted a series of tests regarding the structure behavior, using both sensor and artificial vision analysis. In this paper we present the results of our work.

  Info
Periodical
Solid State Phenomena (Volumes 166-167)
Edited by
Cornel Brișan, Vistrian Mătieș, Sergiu-Dan Stan and Stelian Brad
Pages
127-132
DOI
10.4028/www.scientific.net/SSP.166-167.127
Citation
D. Cojocaru, G. Boccolato, I. Dinulescu, A. Predescu, F. Manta, S. Dumitru, "3D Control for a Truncated Cone Tentacle Kinematics", Solid State Phenomena, Vols. 166-167, pp. 127-132, 2010
Online since
September 2010
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Price
$32.00
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