Title :
Quasi-static hybrid position/force control of a flexible manipulator
Author :
Matsuno, Fumitoshi ; Sakawa, Yoshiyuki ; Asano, Toshio
Author_Institution :
Dept. of Control Eng., Osaka 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. Exact dynamic equations for joint angles, vibration of the flexible link, and constraint force are derived by means of Hamilton´s principle. A controller for the hybrid position/force control of the flexible manipulator is designed on the basis of the obtained model. A set of experiments for the hybrid control of the flexible manipulator using a force sensor has been carried out. Several experimental results are shown
Keywords :
control system synthesis; force control; position control; robots; Hamilton´s principle; contact force; control system synthesis; dynamic equations; flexible manipulator; flexible robots; hybrid position/force control; joint angles; vibration; Control engineering; Differential equations; Force control; Force sensors; Manipulator dynamics; Orbital robotics; Robot sensing systems; Shafts; Space stations; Vibration control;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.132063
