Yr. Hu et Aa. Goldenberg, AN APPROACH TO MOTION AND FORCE CONTROL OF COORDINATED ROBOT ARMS IN THE PRESENCE OF JOINT FLEXIBILITY, Journal of dynamic systems, measurement, and control, 116(3), 1994, pp. 326-335
A system consisting of several flexible joint robot arms is studied in
this paper. The paper addresses the motion and force control problem
of such systems. A coordinating controller, consisting of a motion con
troller, contact force controller, and internal force controller, is d
esigned to distribute the load between the coordinated flexible joint
robot arms, and control the motion of the object, the internal force a
nd contact force between the object and the environment, as well gener
ate the desired joint elastic force. The system stability is analyzed
based on Lyapunov stability theory. It is shown that with the proposed
controller the motion and force control variables can be regulated to
track asymptotically their desired trajectories. Simulation results a
re given to illustrate the performance of the proposed controller.