Force control of constrained flexible manipulators

Jin Soo Kim, Kuniaki Suzuki, Atsushi Konno, Masaru Uchiyama

    Research output: Contribution to journalConference articlepeer-review

    14 Citations (Scopus)

    Abstract

    In this paper, we discuss the force control of flexible manipulators. Since the force control of flexible manipulators with planar one or two links using the distributed-parameter modeling has been the subject of a considerable number of publications until now, so real time computations of the force control schemes are possible. But, application of those control schemes to multi-link spatial flexible manipulators is fairly complicated. In this paper, we apply a concise hybrid position/force control scheme to a flexible manipulator using a lumped-parameter modeling. The Hamilton's principle is applied to deriving the equations of motion and then, a state-space model is obtained by the Lagrange's method. Finally, a comparison between simulation and experimental results is presented to show the performance of our method.

    Original languageEnglish
    Pages (from-to)635-640
    Number of pages6
    JournalProceedings - IEEE International Conference on Robotics and Automation
    Volume1
    Publication statusPublished - 1996 Jan 1
    EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
    Duration: 1996 Apr 221996 Apr 28

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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