Ileana Vladu

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The curvature control problem for a class of hyper-redundant robot arms with continuum elements characterized by an elastic backbone system is analyzed. The main parameters of the arm shape as curvature and curvature gradient are estimated. The stability analysis and the resulting controllers are obtained using the concept of boundary geometric control and(More)
This paper presents the structure of a backbone hyper-redundant arm with an electro-pneumatically system for position control. A system of cables actuated by DC motors is used for bending. Control system is based on a PIC microcontroller. The position of the robot can be obtained by bending it with the cables and by blocking the position of the elements we(More)
This paper presents the sensorial system for structure of a backbone hyper-redundant arm with an electro-pneumatically system for position control. A system of cables actuated by DC motors is used for bending. Control system is based on a PIC microcontroller. The position of the robot can be obtained by bending it with the cables and by blocking the(More)
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