Parallel force and position control of flexible manipulators

The problem of controlling the interaction of a flexible link manipulator w ith a compliant environment is considered. The manipulator's tip is require d to keep contact with a surface by applying a constant force and maintaini ng a prescribed position or following a desired path on the surface. Using singular perturbation theory, the system is decomposed into a slow subsyste m associated with rigid motion and a fast subsystem associated with link fl exible dynamics. A parallel force and position control developed for rigid robots is adopted for the slow subsystem while a fast control action is emp loyed to stabilise the link deflections. Simulation results are presented f or a two-link planar manipulator under gravity in contact with an elastical ly compliant surface.