Force control of grasping operation for a tentacle robot

The paper treats a class of hyper-redundant robots with continuous elements, which performs the function of grasping by coil. First, the dynamic model of the system is deduced. Laws of control are introduced based on the system's energy for force control problem. It is proposed a method of controlling the force using the DSMC method, showing the evolution of the system on the switching line by controlling the electro-rheological fluid's viscosity.