Title :
Dynamic hybrid position/force control of a flexible manipulator which has two degrees of freedom and flexible second link
Author :
Matsuno, Fumitoshi ; Kim, Eigclian ; Sakawa, Yoshiyuki
Author_Institution :
Dept. of Control Eng., Osaka Univ., Japan
fDate :
28 Oct-1 Nov 1991
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. The authors approximate elastic deformations by means of B-spline functions and derive dynamic equations of joint angles. A controller for the hybrid position/force control of the flexible manipulator is designed on the basis of the singular perturbation method
Keywords :
control system synthesis; force control; perturbation techniques; position control; robots; splines (mathematics); B-spline functions; contact force; dynamic equations; elastic deformations; flexible manipulator; hybrid position/force control; joint angles; singular perturbation; Equations; Force control; Manipulator dynamics; Orbital robotics; Perturbation methods; Service robots; Shafts; Space stations; Spline; Vibration control;
Conference_Titel :
Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on
Conference_Location :
Kobe
Print_ISBN :
0-87942-688-8
DOI :
10.1109/IECON.1991.239149
