Force Control of Manipulators with Considering Flexibility

Abstract

In this paper, a simple model with considering flexibility of constrained manipulators is proposed by introducing a set of equivalent springs. On the basis of the proposed model we derive a controller, which compensates the vibrations of the contact force. For measuring the vibrations and the contact force, accelerometers and a force sensor are used. Output signals of the sensors are fedback to driving motors for controlling the position of the end-effector and the contact force. Experimental results are shown.