한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제19권10호
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  • Pages.114-119
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  • 2002
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

구조적 컴플라이언스 모델링을 이용한 구속받는 유연 매니퓰레이터의 위치/힘 제어

Position/Force Control of Constrained Flexible Manipulators Using Structural Compliance Modeling

  • 발행 : 2002.10.01
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초록

The aim of this paper is to clarify the structural compliance of the constrained flexible manipulator and to develop the force control algorithm by using the compliance of the links. The proposed structural compliance control consists of the position control to utilize a flexible manipulator model (considering the compensation for the elastic deflection of links) and the passive force control to utilize the rigid manipulator model (without considering the compensation for the elastic deflection of links). We present the experimental results for the case when applying the only position control, and when applying the structural compliance control. Finally, a comparison between these results is presented to show the performance of our method.

키워드

참고문헌

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