Model-free Position Control of a Soft Continuum Manipulator in Cartesian Space
Issued Date
2023-01-01
Resource Type
Scopus ID
2-s2.0-85164204368
Journal Title
2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023
Rights Holder(s)
SCOPUS
Bibliographic Citation
2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023 (2023)
Suggested Citation
Treratanakulchai S., Franco E., Rodriguez Y Baena F. Model-free Position Control of a Soft Continuum Manipulator in Cartesian Space. 2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023 (2023). doi:10.1109/ICCAD57653.2023.10152366 Retrieved from: https://repository.li.mahidol.ac.th/handle/20.500.14594/87959
Title
Model-free Position Control of a Soft Continuum Manipulator in Cartesian Space
Author(s)
Author's Affiliation
Other Contributor(s)
Abstract
This work investigates the position control in Cartesian space of a soft continuum manipulator with pneumatic actuation. To this end, we employ a feedback integral action initialized using an optimized mapping between pressure and tip position. This approach is detailed for a manipulator consisting of either a single actuated segment or of two actuated segments connected in series. Experiments are conducted on individual prototypes and with a teleoperation setup including a master unit from our track record.