The shape control of tentacle arms
The paper discusses the shape control problem related to a class of hyper-redundant robot arms with continuum elements, i.e. tentacle arms. A spatial weighted technique for sensor measurements is used in order to facilitate the parameter estimation. The paper focuses on the shape control by using th...
Gespeichert in:
| Veröffentlicht in: | Robotica 2015-03, Vol.33 (3), p.684-703 |
|---|---|
| Hauptverfasser: | , , |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 703 |
|---|---|
| container_issue | 3 |
| container_start_page | 684 |
| container_title | Robotica |
| container_volume | 33 |
| creator | Ivanescu, Mircea Popescu, Nirvana Popescu, Decebal |
| description | The paper discusses the shape control problem related to a class of hyper-redundant robot arms with continuum elements, i.e. tentacle arms. A spatial weighted technique for sensor measurements is used in order to facilitate the parameter estimation. The paper focuses on the shape control by using the curvature gradient a constant parameter along the segment arm. The conditions that ensure a constant curvature gradient for a class of tentacle arms characterized by elastic backbone are determined. A sensor network distributed along the robot arm is used for the shape control. The main parameters of the arm shape, curvature and curvature gradient or “shape” Jacobian for the control problem are estimated. Two measuring systems are used: a) a distributed angle sensor network and b) a curvature sensor placed at the end of the arm segment. The stability analysis and the resulting controllers are obtained using the concept of boundary geometric control and the weighted state control methods. The shape control algorithms for dynamic models with uncertain components are proposed. Numerical simulations and experimental results illustrate the effectiveness of the above mentioned algorithms. |
| doi_str_mv | 10.1017/S0263574714000885 |
| format | Article |
| fullrecord | <record><control><sourceid>proquest_cross</sourceid><recordid>TN_cdi_proquest_miscellaneous_1677914238</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><cupid>10_1017_S0263574714000885</cupid><sourcerecordid>3568498101</sourcerecordid><originalsourceid>FETCH-LOGICAL-c420t-ee1eab8e762abec1d7acac7da4dd07cc0d21d5a9fdb5bc1a62d6145374cd47e63</originalsourceid><addsrcrecordid>eNp1kD1PwzAQhi0EEqXwA9giWFgCd4ljOyOq-JIqMVDm6GJfaKskLnY68O9J1Q4IxHTD-zyvTq8Qlwi3CKjv3iBTeaGlRgkAxhRHYoJSlalRyhyLyS5Od_mpOItxDYA5Sj0RV4slJ3FJG06s74fg28Q3ycD9QLblhEIXz8VJQ23ki8OdivfHh8XsOZ2_Pr3M7ueplRkMKTMy1Ya1yqhmi06TJasdSedAWwsuQ1dQ2bi6qC2SypxCWeRaWic1q3wqbva9m-A_txyHqltFy21LPfttrFBpXaLMcjOi17_Qtd-GfvxupKQBaUoJI4V7ygYfY-Cm2oRVR-GrQqh2q1V_Vhud_OBQV4eV--Af1f9a335gbWE</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>1648048940</pqid></control><display><type>article</type><title>The shape control of tentacle arms</title><source>Cambridge University Press Journals Complete</source><creator>Ivanescu, Mircea ; Popescu, Nirvana ; Popescu, Decebal</creator><creatorcontrib>Ivanescu, Mircea ; Popescu, Nirvana ; Popescu, Decebal</creatorcontrib><description>The paper discusses the shape control problem related to a class of hyper-redundant robot arms with continuum elements, i.e. tentacle arms. A spatial weighted technique for sensor measurements is used in order to facilitate the parameter estimation. The paper focuses on the shape control by using the curvature gradient a constant parameter along the segment arm. The conditions that ensure a constant curvature gradient for a class of tentacle arms characterized by elastic backbone are determined. A sensor network distributed along the robot arm is used for the shape control. The main parameters of the arm shape, curvature and curvature gradient or “shape” Jacobian for the control problem are estimated. Two measuring systems are used: a) a distributed angle sensor network and b) a curvature sensor placed at the end of the arm segment. The stability analysis and the resulting controllers are obtained using the concept of boundary geometric control and the weighted state control methods. The shape control algorithms for dynamic models with uncertain components are proposed. Numerical simulations and experimental results illustrate the effectiveness of the above mentioned algorithms.</description><identifier>ISSN: 0263-5747</identifier><identifier>EISSN: 1469-8668</identifier><identifier>DOI: 10.1017/S0263574714000885</identifier><language>eng</language><publisher>Cambridge, UK: Cambridge University Press</publisher><subject>Algorithms ; Constants ; Curvature ; Mathematical analysis ; Mathematical models ; Networks ; Robots ; Sensors ; Shape control</subject><ispartof>Robotica, 2015-03, Vol.33 (3), p.684-703</ispartof><rights>Copyright © Cambridge University Press 2014</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c420t-ee1eab8e762abec1d7acac7da4dd07cc0d21d5a9fdb5bc1a62d6145374cd47e63</citedby><cites>FETCH-LOGICAL-c420t-ee1eab8e762abec1d7acac7da4dd07cc0d21d5a9fdb5bc1a62d6145374cd47e63</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://www.cambridge.org/core/product/identifier/S0263574714000885/type/journal_article$$EHTML$$P50$$Gcambridge$$H</linktohtml><link.rule.ids>164,314,776,780,27901,27902,55603</link.rule.ids></links><search><creatorcontrib>Ivanescu, Mircea</creatorcontrib><creatorcontrib>Popescu, Nirvana</creatorcontrib><creatorcontrib>Popescu, Decebal</creatorcontrib><title>The shape control of tentacle arms</title><title>Robotica</title><addtitle>Robotica</addtitle><description>The paper discusses the shape control problem related to a class of hyper-redundant robot arms with continuum elements, i.e. tentacle arms. A spatial weighted technique for sensor measurements is used in order to facilitate the parameter estimation. The paper focuses on the shape control by using the curvature gradient a constant parameter along the segment arm. The conditions that ensure a constant curvature gradient for a class of tentacle arms characterized by elastic backbone are determined. A sensor network distributed along the robot arm is used for the shape control. The main parameters of the arm shape, curvature and curvature gradient or “shape” Jacobian for the control problem are estimated. Two measuring systems are used: a) a distributed angle sensor network and b) a curvature sensor placed at the end of the arm segment. The stability analysis and the resulting controllers are obtained using the concept of boundary geometric control and the weighted state control methods. The shape control algorithms for dynamic models with uncertain components are proposed. Numerical simulations and experimental results illustrate the effectiveness of the above mentioned algorithms.</description><subject>Algorithms</subject><subject>Constants</subject><subject>Curvature</subject><subject>Mathematical analysis</subject><subject>Mathematical models</subject><subject>Networks</subject><subject>Robots</subject><subject>Sensors</subject><subject>Shape control</subject><issn>0263-5747</issn><issn>1469-8668</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2015</creationdate><recordtype>article</recordtype><sourceid>BENPR</sourceid><recordid>eNp1kD1PwzAQhi0EEqXwA9giWFgCd4ljOyOq-JIqMVDm6GJfaKskLnY68O9J1Q4IxHTD-zyvTq8Qlwi3CKjv3iBTeaGlRgkAxhRHYoJSlalRyhyLyS5Od_mpOItxDYA5Sj0RV4slJ3FJG06s74fg28Q3ycD9QLblhEIXz8VJQ23ki8OdivfHh8XsOZ2_Pr3M7ueplRkMKTMy1Ya1yqhmi06TJasdSedAWwsuQ1dQ2bi6qC2SypxCWeRaWic1q3wqbva9m-A_txyHqltFy21LPfttrFBpXaLMcjOi17_Qtd-GfvxupKQBaUoJI4V7ygYfY-Cm2oRVR-GrQqh2q1V_Vhud_OBQV4eV--Af1f9a335gbWE</recordid><startdate>20150301</startdate><enddate>20150301</enddate><creator>Ivanescu, Mircea</creator><creator>Popescu, Nirvana</creator><creator>Popescu, Decebal</creator><general>Cambridge University Press</general><scope>AAYXX</scope><scope>CITATION</scope><scope>3V.</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>7XB</scope><scope>8AL</scope><scope>8FD</scope><scope>8FE</scope><scope>8FG</scope><scope>8FK</scope><scope>ABJCF</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>F28</scope><scope>FR3</scope><scope>GNUQQ</scope><scope>HCIFZ</scope><scope>JQ2</scope><scope>K7-</scope><scope>L6V</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>M0N</scope><scope>M7S</scope><scope>P5Z</scope><scope>P62</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope><scope>Q9U</scope></search><sort><creationdate>20150301</creationdate><title>The shape control of tentacle arms</title><author>Ivanescu, Mircea ; Popescu, Nirvana ; Popescu, Decebal</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c420t-ee1eab8e762abec1d7acac7da4dd07cc0d21d5a9fdb5bc1a62d6145374cd47e63</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2015</creationdate><topic>Algorithms</topic><topic>Constants</topic><topic>Curvature</topic><topic>Mathematical analysis</topic><topic>Mathematical models</topic><topic>Networks</topic><topic>Robots</topic><topic>Sensors</topic><topic>Shape control</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Ivanescu, Mircea</creatorcontrib><creatorcontrib>Popescu, Nirvana</creatorcontrib><creatorcontrib>Popescu, Decebal</creatorcontrib><collection>CrossRef</collection><collection>ProQuest Central (Corporate)</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>ProQuest Central (purchase pre-March 2016)</collection><collection>Computing Database (Alumni Edition)</collection><collection>Technology Research Database</collection><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>ProQuest Central (Alumni) (purchase pre-March 2016)</collection><collection>Materials Science & Engineering Collection</collection><collection>ProQuest Central (Alumni Edition)</collection><collection>ProQuest Central UK/Ireland</collection><collection>Advanced Technologies & Aerospace Collection</collection><collection>ProQuest Central Essentials</collection><collection>ProQuest Central</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Central Korea</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><collection>ProQuest Central Student</collection><collection>SciTech Premium Collection</collection><collection>ProQuest Computer Science Collection</collection><collection>Computer Science Database</collection><collection>ProQuest Engineering Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>Computing Database</collection><collection>Engineering Database</collection><collection>Advanced Technologies & Aerospace Database</collection><collection>ProQuest Advanced Technologies & Aerospace Collection</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>ProQuest Central China</collection><collection>Engineering Collection</collection><collection>ProQuest Central Basic</collection><jtitle>Robotica</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Ivanescu, Mircea</au><au>Popescu, Nirvana</au><au>Popescu, Decebal</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>The shape control of tentacle arms</atitle><jtitle>Robotica</jtitle><addtitle>Robotica</addtitle><date>2015-03-01</date><risdate>2015</risdate><volume>33</volume><issue>3</issue><spage>684</spage><epage>703</epage><pages>684-703</pages><issn>0263-5747</issn><eissn>1469-8668</eissn><abstract>The paper discusses the shape control problem related to a class of hyper-redundant robot arms with continuum elements, i.e. tentacle arms. A spatial weighted technique for sensor measurements is used in order to facilitate the parameter estimation. The paper focuses on the shape control by using the curvature gradient a constant parameter along the segment arm. The conditions that ensure a constant curvature gradient for a class of tentacle arms characterized by elastic backbone are determined. A sensor network distributed along the robot arm is used for the shape control. The main parameters of the arm shape, curvature and curvature gradient or “shape” Jacobian for the control problem are estimated. Two measuring systems are used: a) a distributed angle sensor network and b) a curvature sensor placed at the end of the arm segment. The stability analysis and the resulting controllers are obtained using the concept of boundary geometric control and the weighted state control methods. The shape control algorithms for dynamic models with uncertain components are proposed. Numerical simulations and experimental results illustrate the effectiveness of the above mentioned algorithms.</abstract><cop>Cambridge, UK</cop><pub>Cambridge University Press</pub><doi>10.1017/S0263574714000885</doi><tpages>20</tpages></addata></record> |
| fulltext | fulltext |
| identifier | ISSN: 0263-5747 |
| ispartof | Robotica, 2015-03, Vol.33 (3), p.684-703 |
| issn | 0263-5747 1469-8668 |
| language | eng |
| recordid | cdi_proquest_miscellaneous_1677914238 |
| source | Cambridge University Press Journals Complete |
| subjects | Algorithms Constants Curvature Mathematical analysis Mathematical models Networks Robots Sensors Shape control |
| title | The shape control of tentacle arms |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-29T18%3A12%3A44IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_cross&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=The%20shape%20control%20of%20tentacle%20arms&rft.jtitle=Robotica&rft.au=Ivanescu,%20Mircea&rft.date=2015-03-01&rft.volume=33&rft.issue=3&rft.spage=684&rft.epage=703&rft.pages=684-703&rft.issn=0263-5747&rft.eissn=1469-8668&rft_id=info:doi/10.1017/S0263574714000885&rft_dat=%3Cproquest_cross%3E3568498101%3C/proquest_cross%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=1648048940&rft_id=info:pmid/&rft_cupid=10_1017_S0263574714000885&rfr_iscdi=true |