Florin Manta

  • Citations Per Year
Learn More
An ideal tentacle manipulator is a non-conventional robotic arm with an infinite mobility. It has the capability of taking sophisticated shapes and of achieving any position and orientation in a 3D space. A tentacle manipulator is a hyper redundant or hyper degree of freedom manipulator. Hyper redundant robots produce changes of configuration using a(More)
A continuum arm prototype was designed and implemented using two different shapes: cylinder like and cone like. This new robot is actuated by stepper motors. The rotation of these motors rotates the cables which by correlated screwing and unscrewing of their ends determine their shortening or prolonging, and by consequence, the tentacle curvature. The(More)
This paper deals with the control problem, simulation and implementation, for a class of hyper redundant manipulators – a tronconic tentacle arms. A tentacle robot produces changes of configuration using a continuous backbone made of sections which bend. A tentacle arm has a variable length and theoretically it can achieve any position and(More)
Nowadays we can observe a grown in interest regarding the robots with high mobility degree, wanted for their capability to avoid obstacles and reach difficult positions in their working space. One particular class of these robots consists in tentacle robots, biologically inspired by cephalopods. Mathematical models and several control structures were(More)
This paper presents the simulation, implementation and control problem for a class of hyper redundant manipulators – the tronconic tentacle arms. A tentacle robot changes its configuration by bending a continuous backbone formed of sections connected in a serial configuration. Such tentacle arm has a variable length and theoretically it can achieve any(More)
The paper treats the control problem for a class of hyper-redundant robots characterized by elastic backbone. The dynamic model of this system is analyzed. A measuring system based on curvature film sensors is proposed and an optical placement technique of sensors is discussed. A control algorithm is introduced by using the concept of boundary geometric(More)
This paper presents a series of experiments performed in order to determine the displacements and the angular amplitudes of a hyper-redundant robot. Two high-speed cameras were used to extract data related to the displacements of the robotic structure in order to obtain a control algorithm of the robot. Has been developed a parameterized model of the robot(More)
  • 1