Friday 29 January 2010

Wseas Transactions

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Transactions: INTERNATIONAL JOURNAL of SYSTEMS ENGINEERING, APPLICATIONS AND DEVELOPMENT
Transactions ID Number: 19-231
Full Name: Giuseppe Boccolato
Position: Researcher
Age: ON
Sex: Male
Address: University of Craiova
Country: ROMANIA
Tel: 251436999
Tel prefix: 0040
Fax: 251438198
E-mail address: gboccolato@robotics.ucv.ro
Other E-mails: gboccolato@tin.it
Title of the Paper: 3D Kinematics of a Tentacle Robot
Authors as they appear in the Paper: Giuseppe Boccolato, Florin Manta, Sorin Dumitru, Dorian Cojocaru
Email addresses of all the authors: sorindumitru83@yahoo.com; manta@robotics.ucv.ro; cojocaru@robotics.ucv.ro;
Number of paper pages: 8
Abstract: This paper deals with the control problem of a class of tentacle arms. A tentacle robot produces changes of configuration using a continuous backbone made of sections which bend. The lack of discrete joints is a serious and difficult issue in the determination of the robot's shape. A tentacle arm has a variable length and theoretically it can achieve any position and orientation in 3D space. In order to get a better control in the constraint operator space, it is possible to increase the length of the tentacle. A tentacle arm prototype was designed and the practical realization is now running.
Keywords: tentacle robot, motion control, modelling
EXTENSION of the file: .doc
Special (Invited) Session: 3D Control for a Tentacle Robot
Organizer of the Session: 101-116.pdf
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