3D force control system design for a hydraulic parallel bellows continuum actuator

D. J. O'Brien, D. M. Lane

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationRobotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Pages2375-2380
Number of pages6
Volume3
DOIs
Publication statusPublished - 2001
Event2001 IEEE International Conference on Robotics and Automation - Seoul, Korea, Republic of
Duration: 21 May 200126 May 2001

Publication series

NameIEEE International Conference on Robotics & Automation (ICRA)
ISSN (Print)1050-4729

Conference

Conference2001 IEEE International Conference on Robotics and Automation
CountryKorea, Republic of
CitySeoul
Period21/05/0126/05/01

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