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.
|ジャーナル||Proceedings - IEEE International Conference on Robotics and Automation|
|出版ステータス||Published - 1996 1 1|
|イベント||Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA|
継続期間: 1996 4 22 → 1996 4 28
ASJC Scopus subject areas