Title:
Modelling for two-time scale force position control of flexible robots

Thumbnail Image
Author(s)
Rocco, Paolo
Book, Wayne J.
Authors
Advisor(s)
Advisor(s)
Editor(s)
Associated Organization(s)
Series
Supplementary to
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
Sponsor
Date Issued
1996-06
Extent
Resource Type
Text
Resource Subtype
Proceedings
Post-print
Rights Statement
Rights URI