Control strategy of one link flexible arm for contact motion to moving object

Presents a control strategy of a one link flexible arm for the contact motion with a moving object. Our purpose is to accomplish the smooth transition from the free space to the constraint space without changing control laws at collision. We design the controller based on the model following servo system with two additional compensators. One is the stabilizing compensation based on strain feedback and the other is the approaching velocity compensation based on a relative displacement feedback. In order to improve the force tracking performance, we determine the relative displacement feedback gain so as to minimize a performance index. Moreover, we virtually adjust the desired force to realize the high-speed approaching motion. Some experimental results show the effectiveness of the proposed controller.