Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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A Study on End-effector Friction of Constrained Spatial Flexible Manipulator

구속 받는 3차원 유연 매니퓰레이터 선단의 마찰에 관한 연구

  • 김진수 (전주대학교 기계자동차공학과)
  • Received : 2010.01.19
  • Accepted : 2010.05.24
  • Published : 2010.08.15
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Abstract

The force control of a constrained flexible manipulators has been one of the major research topics. However, a little effort has been devoted for the relation between friction force and elastic deflection of end-effector for a constrained flexible manipulator. So, the aim of this paper is to clarify the friction mechanism of a constrained spatial multi-link flexible manipulator by changing the material and connected method of end-effector. In this study, a concise hybrid position/force control scheme is applied to the control of a flexible manipulator, and the experimental results for the constrained vertical motion and constrained horizontal motion is presented. Finally a comparison between these results are presented to show the reduction of vibration of link and friction force.

Keywords

References

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