Position control for hybrid infinite-continuous hyper-redundant robot
This paper presents a new conception and analyzes a hyperredundant continuous robot (continuous style manipulator), drive system, and control strategy. The robot includes ten flexible segments and can be extended to several components as needed. The chosen hyper-redundant robot has a continuous infi...
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2021-01-01
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Series: | MATEC Web of Conferences |
Online Access: | https://www.matec-conferences.org/articles/matecconf/pdf/2021/12/matecconf_mse21_08009.pdf |
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doaj-23788769640f41b4bfba22246139abf62021-08-05T12:53:51ZengEDP SciencesMATEC Web of Conferences2261-236X2021-01-013430800910.1051/matecconf/202134308009matecconf_mse21_08009Position control for hybrid infinite-continuous hyper-redundant robotPană Cristina0Vladu Cristian1Pătraşcu-Pană Daniela2Besnea (Petcu) Florina3Cismaru Çtefan4Trăşculescu Andrei5Reşceanu Ionuţ6Bîzdoacă Nicu7University of Craiova, Faculty of Automation, Computers and Electronics, Mechatronics and Robotics DepartmentUniversity of Craiova, Faculty of Electrical Engineering, Electromechanical, Environmental, and Computer Science Applied in the Electrical Engineering DepartmentUniversity of Craiova, Faculty of Automation, Computers and Electronics, Mechatronics and Robotics DepartmentUniversity of Craiova, Faculty of Automation, Computers and Electronics, Mechatronics and Robotics DepartmentUniversity of Craiova, Faculty of Automation, Computers and Electronics, Mechatronics and Robotics DepartmentUniversity of Craiova, Faculty of Automation, Computers and Electronics, Mechatronics and Robotics DepartmentUniversity of Craiova, Faculty of Automation, Computers and Electronics, Mechatronics and Robotics DepartmentUniversity of Craiova, Faculty of Automation, Computers and Electronics, Mechatronics and Robotics DepartmentThis paper presents a new conception and analyzes a hyperredundant continuous robot (continuous style manipulator), drive system, and control strategy. The robot includes ten flexible segments and can be extended to several components as needed. The chosen hyper-redundant robot has a continuous infinite hybrid structure (HHRIC), based on hydraulic control with a rheological element. This system combines the advantage of a joint-level drive with a lightweight construction similar to the base-driven robots. It is suitable for tasks such as wiring in hard-toreach areas (caves, subaccounts, steep areas), transportation of fluids or food to areas affected by natural disasters (people buried under ruins), exploration in difficult areas (speleological research). Generally, the control algorithms for hyper-redundant robots are specific to the robots’ constructive particularities to which they have applied and the environment in which they operate. Experimental results validate the proposal robot design and control strategies in virtual reality. As a result, it is concluded that hyper-redundant robots and immersive technologies should play an essential role soon in automated and teleoperation applications.https://www.matec-conferences.org/articles/matecconf/pdf/2021/12/matecconf_mse21_08009.pdf |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Pană Cristina Vladu Cristian Pătraşcu-Pană Daniela Besnea (Petcu) Florina Cismaru Çtefan Trăşculescu Andrei Reşceanu Ionuţ Bîzdoacă Nicu |
spellingShingle |
Pană Cristina Vladu Cristian Pătraşcu-Pană Daniela Besnea (Petcu) Florina Cismaru Çtefan Trăşculescu Andrei Reşceanu Ionuţ Bîzdoacă Nicu Position control for hybrid infinite-continuous hyper-redundant robot MATEC Web of Conferences |
author_facet |
Pană Cristina Vladu Cristian Pătraşcu-Pană Daniela Besnea (Petcu) Florina Cismaru Çtefan Trăşculescu Andrei Reşceanu Ionuţ Bîzdoacă Nicu |
author_sort |
Pană Cristina |
title |
Position control for hybrid infinite-continuous hyper-redundant robot |
title_short |
Position control for hybrid infinite-continuous hyper-redundant robot |
title_full |
Position control for hybrid infinite-continuous hyper-redundant robot |
title_fullStr |
Position control for hybrid infinite-continuous hyper-redundant robot |
title_full_unstemmed |
Position control for hybrid infinite-continuous hyper-redundant robot |
title_sort |
position control for hybrid infinite-continuous hyper-redundant robot |
publisher |
EDP Sciences |
series |
MATEC Web of Conferences |
issn |
2261-236X |
publishDate |
2021-01-01 |
description |
This paper presents a new conception and analyzes a hyperredundant continuous robot (continuous style manipulator), drive system, and control strategy. The robot includes ten flexible segments and can be extended to several components as needed. The chosen hyper-redundant robot has a continuous infinite hybrid structure (HHRIC), based on hydraulic control with a rheological element. This system combines the advantage of a joint-level drive with a lightweight construction similar to the base-driven robots. It is suitable for tasks such as wiring in hard-toreach areas (caves, subaccounts, steep areas), transportation of fluids or food to areas affected by natural disasters (people buried under ruins), exploration in difficult areas (speleological research). Generally, the control algorithms for hyper-redundant robots are specific to the robots’ constructive particularities to which they have applied and the environment in which they operate. Experimental results validate the proposal robot design and control strategies in virtual reality. As a result, it is concluded that hyper-redundant robots and immersive technologies should play an essential role soon in automated and teleoperation applications. |
url |
https://www.matec-conferences.org/articles/matecconf/pdf/2021/12/matecconf_mse21_08009.pdf |
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