1998 Volume 118 Issue 1 Pages 50-56
In this paper we consider the force control of a one-link flexible arm with contact motion to an environment. Even in case of a flexible arm, we think that the optimal approach velocity reduces the contact force and realizes the smooth transition from the free space to the constraint space. However, the contact of flexible arms to environments may cause the excitation of link vibrations. For this reason, a vibration controller for the force control of the flexible arm is designed on the basis of the Integral Manifold Approach. This whole control system consists of both the proportional force control and the vibration control of the flexible arm. Then, the optimal approach velocity of the contact motion is calculated. Some experimental results are presented to show the effectiveness of the proposed control system and the optimal approach velocity.