Title :
Dynamic hybrid position/force control of a flexible manipulator
Author :
Matsuno, Fumitoshi ; Yamamoto, Kazuo
Author_Institution :
Dept. of Comput. & Syst. Eng., Kobe Univ., Japan
Abstract :
A method is proposed whereby both the contact force exerted by a flexible manipulator and the position of the end-effector while in contact with a surface are controlled. Elastic deformations are approximated by means of B-spline functions. Dynamic equations of joint angles, vibration of the flexible link, and constraint force are derived. A controller for the hybrid position/force control of the flexible manipulator is designed on the basis of the singular perturbation method. Simulation results confirm that the controller performs very well
Keywords :
force control; manipulators; perturbation techniques; position control; splines (mathematics); B-spline functions; constraint force; contact force; end-effector; flexible link; flexible manipulator; hybrid position/force control; joint angles; singular perturbation method; Equations; Force control; Manipulator dynamics; Orbital robotics; Perturbation methods; Service robots; Shafts; Space stations; Systems engineering and theory; Vibration control;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291914
