Model-free position control of a soft continuum manipulator in cartesian space
File(s)
Author(s)
Treratanakulchai, Shen
Franco, Enrico
Rodriguez y Baena, Ferdinando
Type
Conference Paper
Abstract
This work investigates the position control in Cartesian space of a soft continuum manipulator with pneumatic actuation. To this end, we employ a feedback integral action initialized using an optimized mapping between pressure and tip position. This approach is detailed for a manipulator consisting of either a single actuated segment or of two actuated segments connected in series. Experiments are conducted on individual prototypes and with a teleoperation setup including a master unit from our track record.
Date Issued
2023-06-23
Date Acceptance
2023-03-11
Citation
2023 International Conference on Control, Automation and Diagnosis (ICCAD), 2023, pp.1-6
Publisher
IEEE
Start Page
1
End Page
6
Journal / Book Title
2023 International Conference on Control, Automation and Diagnosis (ICCAD)
Copyright Statement
© 2023 IEEE. For the purpose of open access, the authors have applied a Creative Commons Attribution (CC BY) license to any Accepted Manuscript version arising.
License URL
Source
International Conference on Control, Automation and Diagnosis
Publication Status
Published
Start Date
2023-05-10
Finish Date
2023-05-12
Coverage Spatial
Rome, Italy