Hybrid control of flexible manipulators with multiple contact

Author

Lew, Jae Young ; Book, Wayne J.

Author_Institution

George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., GA, USA

fYear

1993

fDate

2-6 May 1993

Firstpage

242

Abstract

A hybrid position/force controller is proposed for flexible link manipulators that make contact with the environment at more than one point. The dynamic equations of the motion with multiple contact constraints are derived. The dynamic equations are transformed into two subspaces (the constrained and constraint-free subspace) using singular value decomposition of the constraint equations. Each force and position controller is developed based on the orthogonality of these two subspaces. A hybrid controller is proposed from the new coordinates. Its stability is proved analytically under the quasi-static condition. An experimental study is carried out to justify the feasibility and application of the proposed ideas

Keywords

control system analysis; dynamics; force control; manipulators; position control; stability; dynamic equations; flexible manipulators; hybrid position/force controller; multiple contact constraints; orthogonality; position controller; singular value decomposition; stability; subspaces; Actuators; Control systems; End effectors; Force control; Kinematics; Manipulator dynamics; Nonlinear equations; Singular value decomposition; Subspace constraints; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.292153

Filename

292153