Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
Dynamics Based Force Control for an One-Link Flexible Manipulator
Takahiro ENDOFumitoshi MATSUNO
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2004 Volume 17 Issue 11 Pages 498-505


We discuss a force control problem for a constrained one-link flexible manipulator based on distributed parameter model. The proposed control law consists of bending moment at the root of the flexible manipulator and its derivative, which regulates simultaneously the force and the rotational angle of the motor without the angle and the force information. And it ensures the asymptotic stability of the closed-loop system. As the control law is derived based on the distributed parameter model, we can avoid the drawbacks resulting from finite dimensional approximation.

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