Abstract
The control problem of the spatial tentacle manipulator is presented. The difficulties determined by the complexity of the nonlinear integral — differential equations are avoided by using a very basic energy relationship of this system. Energy-based control laws are introduced by using only the relations that determine the energy stored in the system. A PD controller and a fuzzy controller are discussed. Numerical simulations for spatial and planar tentacle models are presented in order to prove the efficiency of the method.
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Ivanescu, M. (2004). On the Dynamical Control of Hyper Redundant Manipulators. In: Voicu, M. (eds) Advances in Automatic Control. The Springer International Series in Engineering and Computer Science, vol 754. Springer, Boston, MA. https://doi.org/10.1007/978-1-4419-9184-3_10
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DOI: https://doi.org/10.1007/978-1-4419-9184-3_10
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