DocumentCode
490629
Title
Force and Motion Control of a Constrained Flexible Robot Arm
Author
Hu, F.L. ; Ulsoy, A.G.
Author_Institution
Dept. of Mechanical Engineering and Applied Mechanics, University of Michigan, Ann Arbor, Michigan 48109-2125
fYear
1993
fDate
2-4 June 1993
Firstpage
2862
Lastpage
2867
Abstract
The results of a study on the combined joint motion control, vibration control, and force control of a constrained rigid-flexible robot arm for both regulation and tracking are presented. A nonlinear modified Corless-Leitmann controller is proposeed for control of the flexible motion using only joint actuators. Experimental studies, which demonstrate the effectiveness of the proposed method, are described.
Keywords
Error correction; Force control; Force measurement; Manipulators; Motion control; Robot kinematics; Robotic assembly; Service robots; Tracking; Vibration control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1993
Conference_Location
San Francisco, CA, USA
Print_ISBN
0-7803-0860-3
Type
conf
Filename
4793420
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