제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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APPLICATION OF INVERSE DUNAMICS FOR HYBRID TRANSLATIONAL POSITION/FORCE CONTROL OF A FLEXIBLE ROBOT ARM

  • Sasaki, Minoru (Department of Mechanical Engineering Miyagi National College of Technology Medeshima Natori) ;
  • Inooka, Hikaru (Department of Mechanical Engineering Faculty of Engineering Tohoku University)
  • Published : 1989.10.01
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Abstract

A new simple method for controlling compliant motions of a flexible robot arm is presented. The method aims at controlling translational tip motion, force and moment by directly computing the base motion or torque. A numerical inversion of Laplace transform is used to obtain the results in the time domain. The results show the effectiveness of the method for the hybrid translational position/force control of a flexible robot arm.

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