Adaptive hybrid force/position control of a flexible manipulator for automated deburring with online cutting trajectory modification

We propose a method of controlling a deburring flexible manipulators. Maintaining a constant contact normal force and constant tangential cutting force is required. The dynamics of both the deburring process and the flexible manipulator are investigated in detail, and the latter is derived using Lagrangian method with an assume-mode approach. To facilitate the controller design, a singular perturbation technique is then utilized to separate the system into a slow- and fast-subsystem. For solving the deburring problem, a new hybrid force/position controller is proposed for the slow subsystem; it is implemented by adaptive control strategy, whereas a dynamic feedback controller is developed for the fast subsystem. It is shown that both the position tracking error and the force error converge to zero as time approach infinity. Finally, the computer simulations and experiments of a two-link flexible manipulator confirm the effectiveness of the proposed adaptive controller