Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
Quasi-Static Hybrid Position/Force Control of Two-Degree-of-Freedom Flexible Manipulators
Fumitoshi MATSUNOToshio ASANONobuhiro ASAIYoshiyuki SAKAWA
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1992 Volume 5 Issue 4 Pages 155-163

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Abstract

In this paper, a method is proposed whereby both contact force exerted by a flexible manipulator and position of end-effector while in contact with a surface are controlled. We first derive exact dynamic equations of joint angles, vibration of the flexible links, and contact force by means of Hamilton's principle. Then, a controller for the hybrid position/force control of the flexible manipulator is designed on the basis. of theobtained 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.

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