On the control problem of a hyper-redundant arm

The paper treats the control problem of the hyper-redundant arms that perform the grasping function by coiling. First, the dynamic model of the continuum arm for the position control is studied. A frequency stability criterion based on the KLP Lemma and P and PD control techniques are proposed. The control algorithms based on SMA actuators are introduced. Numerical simulations of the arm motion are presented.