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

Author

O´Brien, Dominic ; Lane, David M.

Author_Institution

Lab. of Ocean Syst., Heriot-Watt Univ., Edinburgh, UK

Volume

3

fYear

2001

fDate

2001

Firstpage

2375

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. The 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.

Keywords

Jacobian matrices; actuators; closed loop systems; control system synthesis; dexterous manipulators; force control; hydraulic control equipment; 3D force control system; Jacobian matrix; continuumatics; control system design; finger; hydraulic parallel bellows continuum actuator; kinematic equations; multi-dimensional control; subsea dextrous hand; underwater hydraulic manipulator; Bellows; Control systems; Equations; Fingers; Force control; Force sensors; Grasping; Hydraulic actuators; Jacobian matrices; Kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.932977

Filename

932977