Contact force control of Three-dimensional Flexible Manipulator

Authors

  • Minoru Sasaki Gifu University
  • Shunta Ito Gifu University
  • Joseph K. Muguro Dedan Kimathi University of Technology
  • Waweru Njeri Dedan Kimathi University of Technology
  • Daiki Maeno Gifu University
  • Titus Mulembo Dedan Kimathi University of Technology
  • Kojiro Matsushita Gifu University

Keywords:

contact force control, three-dimensional, flexible manipulator, strain feedback, force feedback

Abstract

This paper compares force and strain feedback for a contact force controller implemented in a constrained flexible manipulator for three-dimensional motion. In the experiments, force inputs of -1, -2 and -3 N were supplied as targets along z-axis direction and the feedback methods compared for their ability in tracking the supplied force. From the results, strain feedback was able to correct for slippage on the contact surface due to increased input force. It was thus concluded that strain feedback is better than force feedback for the constrained flexible manipulator. As a general guideline, it was also found that recordings should be collected at tip of the manipulator instead of the root to reduce noise levels.

Author Biographies

Minoru Sasaki, Gifu University

Department of Mechanical Engineering

Shunta Ito, Gifu University

Department of Mechanical Engineering

Joseph K. Muguro, Dedan Kimathi University of Technology

School of Engineering

Waweru Njeri, Dedan Kimathi University of Technology

School of Engineering

Daiki Maeno, Gifu University

Department of Mechanical Engineering

Titus Mulembo, Dedan Kimathi University of Technology

School of Engineering

Kojiro Matsushita, Gifu University

Department of Mechanical Engineering

Downloads

Published

2023-08-30

How to Cite

Sasaki, M., Ito, S., Muguro, J. K., Njeri, W., Maeno, D., Mulembo, T. ., & Matsushita, K. . (2023). Contact force control of Three-dimensional Flexible Manipulator. JOURNAL OF SUSTAINABLE RESEARCH IN ENGINEERING, 7(4), 129-136. Retrieved from https://jsre.jkuat.ac.ke/index.php/jsre/article/view/118

Most read articles by the same author(s)