Control of Single-link Flexible Manipulator in Collision

Abstract

In use of flexible manipulators, interaction with environment such as collision or contact with an unlooked-for obstacle is inevitable. Damage avoidance of the manipulator is a significant problem in industry and space programs. This paper presents a position and collision control for a single-link flexible manipulator. Introducing a scalar (collision detection) function based on an innovation process, a collision detector is constructed. Then a twofold controller is constructed for rotating the manipulator to the desired position in normal operations and interrupting its motion when the collision is detected.