Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1996.11a
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- Pages.389-391
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- 1996
Hybrid Position/Force Control of 2 DOF Flexible Manipulator
유연성 구조를 가지는 2 자유도 매니퓰레이터의 힘과 위치 제어
- Park, Sun-Yang (Department of Electrical Engineering Kyungpook National University) ;
- Lee, Young-Seog (Department of Electrical Engineering Kyungpook National University) ;
- Seo, Bo-Hyeok (Department of Electrical Engineering Kyungpook National University)
- Published : 1996.11.16
Abstract
A Hybrid technique is introduced in this paper for a manipulator with 2 DOF flexible links. The manipulator dynamics plus the actuator dynamics is controlled by taking force feedback for the end-effector of the link 2 while controlling the position of link I to control the position of the end-effector.
Keywords