Electro-rheologically Based Control System of a Coiling Function for a Tentacle Arm
نویسندگان
چکیده
− The paper focuses on the control problem of a tentacle robot that performs the coil function of the grasping. First, the dynamic model of a tentacle arm with continuum elements produced by flexible composite materials in conjunction with activecontrollable electro-rheological fluids is analyzed. Secondly, both problems, i.e. the position control and the force control are approached. The difficulties determined by the complexity of the non-linear integral-differential equations are avoided by using a very basic energy relationship of this system. Energybased control laws are introduced for the position control problem. A force control method is proposed, namely the DSMC method in which the evolution of the system on the switching line by the ER fluid viscosity is controlled. Numerical simulation is also presented.
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