Contact force control of Three-dimensional Flexible Manipulator
Keywords:
contact force control, three-dimensional, flexible manipulator, strain feedback, force feedbackAbstract
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.
Downloads
Published
How to Cite
Issue
Section
License
Copyright (c) 2023 Minoru Sasaki, Shunta Ito, Joseph K. Muguro, Waweru Njeri, Daiki Maeno, Titus Mulembo, Kojiro Matsushita
This work is licensed under a Creative Commons Attribution 4.0 International License.
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges.