Force control of constrained flexible manipulators

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

    研究成果: Conference article査読

    17 被引用数 (Scopus)


    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 221996 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


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