Force control of a flexible manipulator based on the measurement of link deflections

Jin Soo Kim, Kuniaki Suzuki, Masaru Uchiyama

    Research output: Contribution to conferencePaperpeer-review

    8 Citations (Scopus)

    Abstract

    In the past decade, a considerable amount of research has been devoted to flexible manipulators, especially to their modeling, vibration control, inverse kinematics and inverse dynamics. When a flexible manipulator is set to an environmental constraint, force control is necessary to be implemented to complete the task. In this work, we apply a concise position/force control scheme to a spatial flexible manipulator, using lumped-parameter modeling. The equations of motion, including elastic deflection and contact force, have been obtained based on the Hamilton's principle. Force control has been realized, both in simulation and experimentally. A comparison between those results is also presented.

    Original languageEnglish
    Pages238-245
    Number of pages8
    Publication statusPublished - 1996 Dec 1
    EventProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn
    Duration: 1996 Nov 41996 Nov 8

    Other

    OtherProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3)
    CityOsaka, Jpn
    Period96/11/496/11/8

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

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