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Active Compliance Control of Constrained Flexible Manipulators  

김진수 (전주대학교 기계공학과)
Publication Information
Transactions of the Korean Society of Machine Tool Engineers / v.12, no.1, 2003 , pp. 1-7 More about this Journal
Abstract
In this paper, we discuss the control scheme on active compliance control of flexible manipulators. The active compliance control scheme is extended from the scheme for rigid manipulators. To illustrate the validity of the proposed control scheme, we show experimental results for the case when the end-effector is not moving and when it is moving while applying force. Although flexible manipulators show some problems of stability yet it is clear from these results that flexible manipulators are more effective to reduce damage of environment because of link flexibility than rigid ones.
Keywords
Active compliance; Flexible manipulator; Environment; Experimental result; Link flexibility;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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