Empirical investigation of closed-loop control of extensible continuum manipulators
作者： Apoorva D. Kapadia , Katelyn E. Fry , Ian D. Walker
DOI: 10.1109/IROS.2014.6942580
关键词: Teleoperation 、 Control engineering 、 Control theory 、 Extensibility 、 Master system 、 Robot hardware 、 Engineering 、 Continuum (topology) 、 Control theory 、 Nonlinear system 、 Loop (topology)
摘要: This paper details closed-loop control experiments that were conducted on an extensible continuum manipula- tor, the OctArm. The performance of three controllers are shown here. can be classified into two cat- egories: Closed-loop configuration-space and closed- loop task-space teleoperation. Two tested in experiments: a proportional- derivative (PD) controller nonlinear sliding-mode con- troller. third is also which redun- dant manipulator tip tracks motion kinematically-dissimilar non-redundant rigid-link master system. results these confirm ability strategies to effectively robot hardware.
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