Mircea Ivanescu

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— The grasping control problem for a hyperredundant manipulator is presented. The dynamic model is derived by using Lagrange equations developed for infinite dimensional systems. The algoritms for the position and force control are proposed. The arm fluid pressure control is inferred and the conditions that ensure the stability of the motion are discussed.(More)
— The paper focuses on hyper-redundant arms with continuum elements that perform the grasping function by coiling. First, there is concern with the dynamic model of the continuum arm for the position control during non-contact operations with the environment. A frequency stability criterion based on the Kahman – Yakubovich – Popov Lemma and P and PD control(More)