DocumentCode
2190137
Title
Contact control of flexible micro/macro-manipulators
Author
Lew, Jae Y.
Author_Institution
Pacific Northwest Lab., Richland, WA, USA
Volume
4
fYear
1997
fDate
20-25 Apr 1997
Firstpage
2850
Abstract
Contact force control of a long-reach micro/macro-manipulator, in which the macro-manipulator is flexible, is discussed in this paper. The proposed contact force control algorithm smooths the manipulator´s transition from a free-space motion to contact with an unknown environment. Using a force sensor at the wrist and a strain measurement at the flexible link, the micro-manipulator regulates the contact force to a desired value without causing contact instability. Experimental results show the effectiveness of the proposed controller in an industrial hydraulic manipulator testbed
Keywords
force control; manipulators; motion control; telerobotics; contact force control; flexible link; force sensor; free-space motion; industrial hydraulic manipulator testbed; long-reach micro/macro-manipulator; strain measurement; unknown environment; wrist; Bandwidth; Damping; Equations; Force control; Force feedback; Force sensors; Laboratories; Manipulator dynamics; Motion control; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location
Albuquerque, NM
Print_ISBN
0-7803-3612-7
Type
conf
DOI
10.1109/ROBOT.1997.606719
Filename
606719
Link To Document