抄録
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.
| 本文言語 | English |
|---|---|
| ページ（範囲） | 635-640 |
| ページ数 | 6 |
| ジャーナル | Proceedings - IEEE International Conference on Robotics and Automation |
| 巻 | 1 |
| 出版ステータス | Published - 1996 1月 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月 22 → 1996 4月 28 |
ASJC Scopus subject areas
- ソフトウェア
- 制御およびシステム工学
- 人工知能
- 電子工学および電気工学