MATEC Web Conf.
Volume 343, 202110th International Conference on Manufacturing Science and Education – MSE 2021
|Number of page(s)||17|
|Section||Mechanical Engineering, Mechatronics and Robotics|
|Published online||04 August 2021|
Position control for hybrid infinite-continuous hyper-redundant robot
University of Craiova, Faculty of Automation, Computers and Electronics, Mechatronics and Robotics Department, Blvd. Decebal no. 107, Craiova, Romania
2 University of Craiova, Faculty of Electrical Engineering, Electromechanical, Environmental, and Computer Science Applied in the Electrical Engineering Department, Blvd. Decebal no. 107, Craiova, Romania
* Corresponding author: firstname.lastname@example.org
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.
© The Authors, published by EDP Sciences, 2021
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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