Treratanakulchai S.Franco E.Rodriguez Y Baena F.Mahidol University2023-07-192023-07-192023-01-012023 International Conference on Control, Automation and Diagnosis, ICCAD 2023 (2023)https://repository.li.mahidol.ac.th/handle/20.500.14594/87959This 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.EngineeringConference PaperSCOPUS10.1109/ICCAD57653.2023.101523662-s2.0-85164204368