Title:
Modelling for two-time scale force position control of flexible robots
Modelling for two-time scale force position control of flexible robots
Author(s)
Rocco, Paolo
Book, Wayne J.
Book, Wayne J.
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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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Date Issued
1996-06
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Text
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Proceedings
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Post-print