Hybrid position/force control of flexible manipulators

  • Kim, Jin-Soo (Department of Aeronautics and Space Engineering, Tohoku Univ.) ;
  • Suzuki, Kuniaki (Department of Aeronautics and Space Engineering, Tohoku Univ.) ;
  • Konno, Atsushi (Department of Mechano-Information, University of Tokyo) ;
  • Uchiyama, Masaru (Department of Aeronautics and Space Engineering, Tohoku Univ.)
  • Published : 1995.10.01

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, real time computations of the force control schemes are possible. But, application of those control schemes to multi-link spatial manipulators is fairly complicated. In this paper, we apply a concise hybrid position/force control scheme for a flexible manipulators. We use a lumped-parameter modeling for the flexible manipulators. The Hamilton's principle is applied to derive the equations of motion for the system and then, state-space model is obtained by the Lagrange's method. Finally, comparison of simulation results with experimental results is given to show the performance of our method.