MODELING AND QUASI-STATIC HYBRID POSITION FORCE CONTROL OF CONSTRAINED PLANAR 2-LINK FLEXIBLE MANIPULATORS

Authors
MATSUNO F ASANO T SAKAWA Y
Citation
F. Matsuno et al., MODELING AND QUASI-STATIC HYBRID POSITION FORCE CONTROL OF CONSTRAINED PLANAR 2-LINK FLEXIBLE MANIPULATORS, IEEE transactions on robotics and automation, 10(3), 1994, pp. 287-297
Citations number
15
Categorie Soggetti
Computer Application, Chemistry & Engineering","Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Eletrical & Electronic
Journal title
IEEE transactions on robotics and automation → ACNP
ISSN journal
1042296X
Volume
10
Issue
3
Year of publication
1994
Pages
287 - 297
Database
ISI
SICI code
1042-296X(1994)10:3<287:MAQHPF>2.0.ZU;2-Y
Abstract
In this paper, a method is proposed whereby both contact force exerted by a flexible manipulator and position of end-effector while in conta ct with a surface are controlled. We derive dynamic equations of joint angles, vibrations of flexible links, and contact force by means of H amilton's principle. On the basis of some assumptions we derive the qu asi-static equations and design the hybrid position/force controller o f the flexible manipulator. A set of experiments for the hybrid contro l of the flexible manipulator using a force sensor has been carried ou t. Several experimental results are shown.