FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2893591777> ?p ?o ?g. }

• W2893591777 endingPage "61" @default.
• W2893591777 startingPage "48" @default.
• W2893591777 abstract "Abstract In this paper we introduce the first robust control for continuum robots that are modelled by Cosserat Rod theory. Constituted from deformable elastic backbones, continuum robots are highly nonlinear and complex. Current control approaches tend to overcome this obstacle by adopting assumptions to the robot’s structure aiming to develop models that are both accurate and applicable for real time control applications. The drawback of such approaches is that maintaining those modelling assumptions restricts the robots expected performance. Here, we overcome the drawbacks by utilizing a dynamic model based on Cosserat Rod that is free from those assumptions and capable of accommodating the backbone general deformations. This general model has not been used in robust control design before as it is computationally expensive to simulate and be used for real time control applications. In this paper, we solved the expensive computation problem by employing a sophisticated numerical method known as the Generalized-α method. For the control part, a robust controller is designed based on sliding mode. To avoid drastic changes in the actuating tension, control input saturation is considered in the design process. Simulation examples are included to verify the effectiveness of the proposed design." @default.
• W2893591777 created "2018-10-05" @default.
• W2893591777 creator A5020023819 @default.
• W2893591777 creator A5066193875 @default.
• W2893591777 creator A5081405027 @default.
• W2893591777 date "2019-01-01" @default.
• W2893591777 modified "2023-09-29" @default.
• W2893591777 title "Robust control of continuum robots using Cosserat rod theory" @default.
• W2893591777 cites W1826989125 @default.
• W2893591777 cites W1925606516 @default.
• W2893591777 cites W1978838735 @default.
• W2893591777 cites W1997060717 @default.
• W2893591777 cites W2001803686 @default.
• W2893591777 cites W2004261557 @default.
• W2893591777 cites W2014297362 @default.
• W2893591777 cites W2025049462 @default.
• W2893591777 cites W2041598805 @default.
• W2893591777 cites W2053614949 @default.
• W2893591777 cites W2073677587 @default.
• W2893591777 cites W2082043116 @default.
• W2893591777 cites W2097670366 @default.
• W2893591777 cites W2122628132 @default.
• W2893591777 cites W2131363581 @default.
• W2893591777 cites W2136787129 @default.
• W2893591777 cites W2136885736 @default.
• W2893591777 cites W2146935528 @default.
• W2893591777 cites W2157540237 @default.
• W2893591777 cites W2187770034 @default.
• W2893591777 cites W2318613964 @default.
• W2893591777 cites W2335997780 @default.
• W2893591777 cites W2417331201 @default.
• W2893591777 cites W2512635237 @default.
• W2893591777 cites W2513826641 @default.
• W2893591777 cites W2562425253 @default.
• W2893591777 cites W2568102335 @default.
• W2893591777 cites W2593483954 @default.
• W2893591777 cites W2753396417 @default.
• W2893591777 cites W2761513731 @default.
• W2893591777 cites W2763080578 @default.
• W2893591777 cites W2782435507 @default.
• W2893591777 cites W2790147543 @default.
• W2893591777 cites W2794321041 @default.
• W2893591777 cites W2818096018 @default.
• W2893591777 cites W2885440877 @default.
• W2893591777 cites W2888417563 @default.
• W2893591777 doi "https://doi.org/10.1016/j.mechmachtheory.2018.09.011" @default.
• W2893591777 hasPublicationYear "2019" @default.
• W2893591777 type Work @default.
• W2893591777 sameAs 2893591777 @default.
• W2893591777 citedByCount "58" @default.
• W2893591777 countsByYear W28935917772019 @default.
• W2893591777 countsByYear W28935917772020 @default.
• W2893591777 countsByYear W28935917772021 @default.
• W2893591777 countsByYear W28935917772022 @default.
• W2893591777 countsByYear W28935917772023 @default.
• W2893591777 crossrefType "journal-article" @default.
• W2893591777 hasAuthorship W2893591777A5020023819 @default.
• W2893591777 hasAuthorship W2893591777A5066193875 @default.
• W2893591777 hasAuthorship W2893591777A5081405027 @default.
• W2893591777 hasConcept C119599485 @default.
• W2893591777 hasConcept C121332964 @default.
• W2893591777 hasConcept C127413603 @default.
• W2893591777 hasConcept C133731056 @default.
• W2893591777 hasConcept C154945302 @default.
• W2893591777 hasConcept C17500928 @default.
• W2893591777 hasConcept C2775924081 @default.
• W2893591777 hasConcept C31531917 @default.
• W2893591777 hasConcept C33923547 @default.
• W2893591777 hasConcept C41008148 @default.
• W2893591777 hasConcept C47446073 @default.
• W2893591777 hasConcept C74650414 @default.
• W2893591777 hasConcept C78519656 @default.
• W2893591777 hasConcept C90509273 @default.
• W2893591777 hasConceptScore W2893591777C119599485 @default.
• W2893591777 hasConceptScore W2893591777C121332964 @default.
• W2893591777 hasConceptScore W2893591777C127413603 @default.
• W2893591777 hasConceptScore W2893591777C133731056 @default.
• W2893591777 hasConceptScore W2893591777C154945302 @default.
• W2893591777 hasConceptScore W2893591777C17500928 @default.
• W2893591777 hasConceptScore W2893591777C2775924081 @default.
• W2893591777 hasConceptScore W2893591777C31531917 @default.
• W2893591777 hasConceptScore W2893591777C33923547 @default.
• W2893591777 hasConceptScore W2893591777C41008148 @default.
• W2893591777 hasConceptScore W2893591777C47446073 @default.
• W2893591777 hasConceptScore W2893591777C74650414 @default.
• W2893591777 hasConceptScore W2893591777C78519656 @default.
• W2893591777 hasConceptScore W2893591777C90509273 @default.
• W2893591777 hasLocation W28935917771 @default.
• W2893591777 hasOpenAccess W2893591777 @default.
• W2893591777 hasPrimaryLocation W28935917771 @default.
• W2893591777 hasRelatedWork W1554009202 @default.
• W2893591777 hasRelatedWork W1992392296 @default.
• W2893591777 hasRelatedWork W2097622205 @default.
• W2893591777 hasRelatedWork W2134628069 @default.
• W2893591777 hasRelatedWork W2141966676 @default.
• W2893591777 hasRelatedWork W2148751721 @default.
• W2893591777 hasRelatedWork W2348134434 @default.
• W2893591777 hasRelatedWork W2414535689 @default.

• next