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• W1993993729 abstract "The paper treats the control problem of a class of hyper-redundant robot constituted by a chain of continuum segments. The technological model basis is a central, long and thin, highly flexible and elastic backbone. The driving system is a decoupled one. The main parameters of the arm control are determined by the curvature and curvature gradient. The dynamic model is inferred. A sliding mode control system is used in order to achieve a desired shape of the arm. The stability of the closed loop control system is proven. Numerical simulations are also provided to verify the effectiveness of the presented approach." @default.
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• W1993993729 date "2014-01-01" @default.
• W1993993729 modified "2023-09-26" @default.
• W1993993729 title "A Variable Structure Controller for a Class of Hyper-redundant Arms" @default.
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• W1993993729 doi "https://doi.org/10.5220/0005005901210126" @default.
• W1993993729 hasPublicationYear "2014" @default.
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