Modelling for two-time scale force/position control of flexible robots
- 1 June 1996
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 1941-1946 vol.3
- https://doi.org/10.1109/robot.1996.506156
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-DOF flexible arm are given.Keywords
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