3D Control for a Truncated Cone Tentacle Kinematics


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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.



Solid State Phenomena (Volumes 166-167)

Edited by:

Cornel Brișan, Vistrian Mătieș, Sergiu-Dan Stan and Stelian Brad






D. Cojocaru et al., "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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