Title :
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
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;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.932977
