Configuration space impedance control for continuum manipulators

  title={Configuration space impedance control for continuum manipulators},
  author={Lorenzo Toscano and Valentin Falkenhahn and Alexander Hildebrandt and Francesco Braghin and Oliver Sawodny},
  journal={2015 6th International Conference on Automation, Robotics and Applications (ICARA)},
Despite their intrinsic structural compliance, a safe interaction of continuum robots with their environment requires a control strategy that is able to manage the compliant motion properly. This paper presents a peculiar strategy of application of the impedance control based on kinematic and dynamic models of the manipulator's sections. The control… CONTINUE READING