FORCE AND MOTION CONTROL OF A CONSTRAINED FLEXIBLE ROBOT ARM

Authors
HU FL ULSOY AG
Citation
Fl. Hu et Ag. Ulsoy, FORCE AND MOTION CONTROL OF A CONSTRAINED FLEXIBLE ROBOT ARM, Journal of dynamic systems, measurement, and control, 116(3), 1994, pp. 336-343
Citations number
24
Categorie Soggetti
Engineering, Mechanical
Journal title
Journal of dynamic systems, measurement, and control → ACNP
ISSN journal
00220434
Volume
116
Issue
3
Year of publication
1994
Pages
336 - 343
Database
ISI
SICI code
0022-0434(1994)116:3<336:FAMCOA>2.0.ZU;2-N
Abstract
The results of a study on the combined joint motion control, vibration control, and force control of a constrained rigid-flexible robot am f or both regulation and tracking are presented. A nonlinear modified Co rless-Leitmann controller is proposed for control of the flexible moti on using only joint actuators. Experimental studies, which demonstrate the effectiveness of the proposed method, are described.