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This paper presents the sensorial system for structure of a backbone hyper-redundant arm with an electro-pneumatically system for position control. A system of cables actuated by DC motors is used for bending. Control system is based on a PIC microcontroller. The position of the robot can be obtained by bending it with the cables and by blocking the position of the elements we need, using the electro-pneumatically...
The curvature control problem for a class of hyper-redundant robot arms with continuum elements characterized by an elastic backbone system is analyzed. The main parameters of the arm shape as curvature and curvature gradient are estimated. The stability analysis and the resulting controllers are obtained using the concept of boundary geometric control and a weighted state control methods. The proposed...
The paper treats a class of hyper-redundant robots with continuous elements, which performs the function of grasping by coil. First, the dynamic model of the system is deduced. Laws of control are introduced based on the system's energy for force control problem. It is proposed a method of controlling the force using the DSMC method, showing the evolution of the system on the switching line by controlling...
Magneto-rheological fluid (MR) is part of smart materials and main property, very used in practical applications, consists in viscosity modification in case of exposal to a magnetic field. Magneto-rheological stop valve (VMR) represents one of its most known applications. Thanks to non-Newtonian flow of MR fluid, its mathematical modelling is very difficult. Because of that part of the parameters...
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