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Two-time scale force position control of flexible robots

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Scholarly Materials And Research @ Georgia Tech
Keywords
  • Flexible Manipulators
  • Force Control
  • Singular Perturbation Theory
  • Composite Control
  • Robotic Simulations
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Abstract

Distributed flexibility of the links is a severe obstacle for the endpoint position control of lightweight manipulators. In order to accomplish with satisfactory performance certain tasks involving a controlled interaction of the tip of the robot with the worksurfaces, a combined control of the motion and the contact forces can provide some advantages. This paper presents a general and systematic model of a flexible robot interacting with a rigid environment. A force/position control scheme based on this model is also introduced. Results obtained simulating the constrained motion of an existing 2 d.o.f. flexible arm are finally given

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