TY - GEN
T1 - 3D force control system design for a hydraulic parallel bellows continuum actuator
AU - O'Brien, D. J.
AU - Lane, D. M.
PY - 2001
Y1 - 2001
N2 - A parallel bellows continuum actuator has been developed for use as a finger in a subsea dextrous hand mounted on a commercial underwater hydraulic manipulator. To improve grasping and manipulation performance, a 3D force control system has been designed for each finger, using in house proprietary force sensor designs. This paper describes the control system design, focusing on the derivation of the continuum actuator Jacobian matrix and kinematic equations ("continuumatics") necessary to implement the multi-dimensional control.
AB - A parallel bellows continuum actuator has been developed for use as a finger in a subsea dextrous hand mounted on a commercial underwater hydraulic manipulator. To improve grasping and manipulation performance, a 3D force control system has been designed for each finger, using in house proprietary force sensor designs. This paper describes the control system design, focusing on the derivation of the continuum actuator Jacobian matrix and kinematic equations ("continuumatics") necessary to implement the multi-dimensional control.
UR - http://www.scopus.com/inward/record.url?scp=0034877521&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2001.932977
DO - 10.1109/ROBOT.2001.932977
M3 - Conference contribution
SN - 0-7803-6576-3
VL - 3
T3 - IEEE International Conference on Robotics & Automation (ICRA)
SP - 2375
EP - 2380
BT - Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
T2 - 2001 IEEE International Conference on Robotics and Automation
Y2 - 21 May 2001 through 26 May 2001
ER -