Quasi-static hybrid position/force control of a flexible manipulator
- 10 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 2838-2843 vol.3
- https://doi.org/10.1109/robot.1991.132063
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
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