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Abdract-The control problem of the spatial tentacle manipulator is presented. The difficulties determined by the complexity of the nonlinear integraldifferential equations are avoided by using a very basic energy relationship of this system. Energy-based control laws are introduced by using only the relations that determine the energy stored in the system. A PD controller and a fuzzy controller are discussed. Numerical simulations for spatial and planar tentacle models are presented in order to prove the efficiency of the method.

The control problem of the spatial tentacle manipulator with SMA control is presented. The difficulties determined by the complexity of the nonlinear integral-differential equations are avoided hy using a very basic energy relationship of this system. A PD controller is discussed and a control coefficient selection procedure is introduced. Numerical simulations fur planar and spatial tentacle models are presented and an experimental model is discussed.Keywords: tentacle, distributed parameter system, SMA with antagonistic actuators able to exert moments on the backbone to deform the arm shape.In contrast to the several designs of tentacle models that represent underactuated systems, this model is entirely controlled, with no underactuation at all.The arm is a discrete mechanism constructed from a series of rigid elements. These are connected by discrete two degree of freedom. There are two pairs of SMA actuators that determine the torques around theq, and B j rotation axes. For the rotation in the qi -plane we obtain actuators. D T, = 2(FL, -FRz)-rosq, 2(1)

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