Abstract
In this study, 1st link set in the side supporting an arm is a rigid body, and 2nd link set in the tip side is a flexible arm. The flexible arm of the 2nd link is assumed to be the rigid body arm which consists of 2 links using a virtual joint, and the control object is modeled with the rigid body arm of 3 links. Moreover, the contact force at the tip is modeled with a spring and a damper. The Hybrid Control system of the position control and the force control is designed to this model. The force control system is designed by the Sliding Mode Control system, and the validity of the proposed control method is examined by simulations and experiments.
