Comparative Study between Two Important Nonlinear Methodologies for Continuum Robot Manipulator Control

Volume: 6, Issue: 4, Pages: 66 - 80
Published: Mar 8, 2014
Abstract
This research focuses on the basic concepts of continuum robot manipulator and control methodology. OCTARM Continuum robot manipulator is a 6 DOF serial robot manipulator. From the control point of view, robot manipulator divides into two main parts i.e. kinematics and dynamic parts. The dynamic parameters of this system are highly nonlinear. To control of this system nonlinear control methodology (computed torque controller and sliding mode...
Paper Details
Title
Comparative Study between Two Important Nonlinear Methodologies for Continuum Robot Manipulator Control
Published Date
Mar 8, 2014
Volume
6
Issue
4
Pages
66 - 80
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