By Topic

Contact control of flexible micro/macro-manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Lew, J.Y. ; Pacific Northwest Lab., Richland, WA, USA

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

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997