MODELING AND QUASI-STATIC HYBRID POSITION FORCE CONTROL OF CONSTRAINED PLANAR 2-LINK FLEXIBLE MANIPULATORS

被引：70

作者：

MATSUNO, F ^{[1
]}

ASANO, T ^{[1
]}

SAKAWA, Y ^{[1
]}

机构：

[1] OSAKA UNIV,FAC ENGN SCI,DEPT SYST ENGN,TOYONAKA,OSAKA 560,JAPAN

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1994年 / 10卷 / 03期

关键词：

D O I：

10.1109/70.294204

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a method is proposed whereby both contact force exerted by a flexible manipulator and position of end-effector while in contact with a surface are controlled. We derive dynamic equations of joint angles, vibrations of flexible links, and contact force by means of Hamilton's principle. On the basis of some assumptions we derive the quasi-static equations and design the hybrid position/force controller of the flexible manipulator. A set of experiments for the hybrid control of the flexible manipulator using a force sensor has been carried out. Several experimental results are shown.

引用

页码：287 / 297

页数：11

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