Title :
Configuration space impedance control for continuum manipulators
Author :
Toscano, Lorenzo ; Falkenhahn, Valentin ; Hildebrandt, Alexander ; Braghin, Francesco ; Sawodny, Oliver
Author_Institution :
Dept. of Mech. Eng., Politec. di Milano, Milan, Italy
Abstract :
Despite their intrinsic structural compliance, a safe interaction of continuum robots with their environment requires a control strategy that is able to manage the compliant motion properly. This paper presents a peculiar strategy of application of the impedance control based on kinematic and dynamic models of the manipulator´s sections. The control approach is able to deal with unpredicted contacts which can occur in unknown locations along the whole manipulator while the resulting contact forces don´t need to be measured or estimated. The control concept is applied to a single section of the Bionic Handling Assistant, but its application can be extended to all the continuum robots modeled with the piecewise constant curvature approach.
Keywords :
compliance control; manipulator dynamics; manipulator kinematics; piecewise constant techniques; bionic handling assistant; compliant motion; configuration space impedance control; continuum manipulators; continuum robots; manipulator dynamic models; manipulator kinematic models; piecewise constant curvature approach; Aerospace electronics; Dynamics; Force; Impedance; Manipulator dynamics;
Conference_Titel :
Automation, Robotics and Applications (ICARA), 2015 6th International Conference on
Conference_Location :
Queenstown
DOI :
10.1109/ICARA.2015.7081215