제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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- Pages.408-411
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- 1995
Hybrid position/force control of flexible manipulators
- Kim, Jin-Soo (Department of Aeronautics and Space Engineering, Tohoku Univ.) ;
- Suzuki, Kuniaki (Department of Aeronautics and Space Engineering, Tohoku Univ.) ;
- Konno, Atsushi (Department of Mechano-Information, University of Tokyo) ;
- Uchiyama, Masaru (Department of Aeronautics and Space Engineering, Tohoku Univ.)
- 발행 : 1995.10.01
초록
In this paper, we discuss the force control of flexible manipulators. Since the force control of flexible manipulators with planar one or two links using the distributed-parameter modeling has been the subject of a considerable number of publications until now, real time computations of the force control schemes are possible. But, application of those control schemes to multi-link spatial manipulators is fairly complicated. In this paper, we apply a concise hybrid position/force control scheme for a flexible manipulators. We use a lumped-parameter modeling for the flexible manipulators. The Hamilton's principle is applied to derive the equations of motion for the system and then, state-space model is obtained by the Lagrange's method. Finally, comparison of simulation results with experimental results is given to show the performance of our method.
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