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A Study on End-effector Friction of Constrained Spatial Flexible Manipulator  

Kim, Jin-Soo (전주대학교 기계자동차공학과)
Publication Information
Journal of the Korean Society of Manufacturing Technology Engineers / v.19, no.4, 2010 , pp. 449-454 More about this Journal
Abstract
The force control of a constrained flexible manipulators has been one of the major research topics. However, a little effort has been devoted for the relation between friction force and elastic deflection of end-effector for a constrained flexible manipulator. So, the aim of this paper is to clarify the friction mechanism of a constrained spatial multi-link flexible manipulator by changing the material and connected method of end-effector. In this study, a concise hybrid position/force control scheme is applied to the control of a flexible manipulator, and the experimental results for the constrained vertical motion and constrained horizontal motion is presented. Finally a comparison between these results are presented to show the reduction of vibration of link and friction force.
Keywords
Flexible manipulator; Friction force; Elastic deflection; End-effector; Hybrid postion/force control;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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