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POSITION/FORCE CONTROL OF A FLEXIBLE MANIPULATOR UNDER MODEL-LESS CONTROL
POSITION/FORCE CONTROL OF A FLEXIBLE MANIPULATOR UNDER MODEL-LESS CONTROL
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机译:无模型控制下柔性机械臂的位置/力控制
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摘要
A method includes receiving position information and force information, providing control commands to a steering mechanism of a continuum manipulator based on the position information and the force information, updating a control matrix based on the position information and the provided control commands, and providing updated control commands to the steering mechanism based on the updated control matrix. A continuum manipulator includes a body, a steering mechanism configured to steer the body, sensors, and a controller. The sensors include a position sensor to detect a position of the body and a force sensor to detect a force against the body. The controller is configured to receive position information from the position sensor and force information from the force sensor, provide control commands to the steering mechanism based on the position information and the force information, and update a control matrix based on the position information and the provided control commands.
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