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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Main Authors: Pană Cristina, Vladu Cristian, Pătraşcu-Pană Daniela, Besnea (Petcu) Florina, Cismaru Çtefan, Trăşculescu Andrei, Reşceanu Ionuţ, Bîzdoacă Nicu
Format: Article
Language:English
Published: EDP Sciences 2021-01-01
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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spelling 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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AT besneapetcuflorina positioncontrolforhybridinfinitecontinuoushyperredundantrobot
AT cismaructefan positioncontrolforhybridinfinitecontinuoushyperredundantrobot
AT trasculescuandrei positioncontrolforhybridinfinitecontinuoushyperredundantrobot
AT resceanuionut positioncontrolforhybridinfinitecontinuoushyperredundantrobot
AT bizdoacanicu positioncontrolforhybridinfinitecontinuoushyperredundantrobot
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