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Position/Force Control of Constrained Flexible Manipulators Using Structural Compliance Modeling  

Kim, Jin-Su (Dept.of Engineering, Jeonju University)
Publication Information
Journal of the Korean Society for Precision Engineering / v.19, no.10, 2002 , pp. 114-119 More about this Journal
Abstract
The aim of this paper is to clarify the structural compliance of the constrained flexible manipulator and to develop the force control algorithm by using the compliance of the links. The proposed structural compliance control consists of the position control to utilize a flexible manipulator model (considering the compensation for the elastic deflection of links) and the passive force control to utilize the rigid manipulator model (without considering the compensation for the elastic deflection of links). We present the experimental results for the case when applying the only position control, and when applying the structural compliance control. Finally, a comparison between these results is presented to show the performance of our method.
Keywords
Structural compliance; Flexible manipulator; Position control; Passive force control; Experimental result;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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