Position-based Impedance Control of a 2-DOF Compliant Manipulator for a Facade Cleaning Operation
Taegyun Kim,Sungkeun Yoo,Hwa Soo Kim,TaeWon Seo,Taegyun Kim,Sungkeun Yoo,Hwa Soo Kim,TaeWon Seo
This paper presents the design of a compliant manipulator using a series elastic actuator (SEA) and a mechanism for precisely measuring the force acting on the contact part of the manipulator without using a force sensor. It is important to maintain a constant contact force between the compliant manipulator and the wall in order to guarantee cleaning performance, and the ball screw mechanism is us...
