Abstract
This paper dealt with a hybrid control of position/force of 2-link arm with a flexible tip using Computer Aided Engineering (CAE). Finite Element Method (FEM) was applied to model the flexibility of the tip arm. And, the behavior of the flexibility was confirmed. The modeling in the numerical formula was hard work, however, it was easy for modeling the flexible arm by using CAE. For the first step, a hybrid control of position/force that considered the highly vibration mode of the flexible arm was simulated by PID control.
