제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Dynamic Hybrid Position/Gorce Control of 2 D.O.F. Flexible Manipulators

  • Yoshikawa, Tsuneo (Department of Mechanical Engineering, Faculty of Engineering, Kyoto University) ;
  • Harada, Kensuke (Department of Mechanical Engineering, Faculty of Engineering, Kyoto University)
  • Published : 1994.10.01
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Abstract

Dynamic hybrid position/force control of flexible manipulators is proposed. First, a 2 D.O.F. flexible manipulator is modeled using the spring-mass model. Second, the equation of motion considering the tip constraints is derived. Third, hybrid position/force control algorithm is derived. In this control algorithm, the differentiable order of the desired trajectory and the stability condition are different from the case of rigid manipulators. Lastly, to verify the effectiveness of the proposed control algorithm, simulation results are presented.

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