대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

유연성 구조를 가지는 2 자유도 매니퓰레이터의 힘과 위치 제어

Hybrid Position/Force Control of 2 DOF Flexible Manipulator

  • 박선용 (경북대학교 전기공학과) ;
  • 이영석 (경북대학교 전기공학과) ;
  • 서보혁 (경북대학교 전기공학과)
  • Park, Sun-Yang (Department of Electrical Engineering Kyungpook National University) ;
  • Lee, Young-Seog (Department of Electrical Engineering Kyungpook National University) ;
  • Seo, Bo-Hyeok (Department of Electrical Engineering Kyungpook National University)
  • 발행 : 1996.11.16
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초록

A Hybrid technique is introduced in this paper for a manipulator with 2 DOF flexible links. The manipulator dynamics plus the actuator dynamics is controlled by taking force feedback for the end-effector of the link 2 while controlling the position of link I to control the position of the end-effector.

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