Force control of a two-linke planar manipulator with one flexible link

doi:10.1016/0921-8890(91)90050-U

Robotics and Autonomous Systems

Volume 8, Issue 4, 1991, Pages 281-289

https://doi.org/10.1016/0921-8890(91)90050-U Get rights and content

Abstract

Force control of a two-link planar manipulator with one flexible link is considered in this study. The equations of motion are derived using the extended Hamilton's principle with only structural flexibility effects included in the dynamic model. The linear quadratic Gaussian/loop transfer recovery (LQG/LTR) design methodology is exploited to design a robust feedback control system that can handle modelling errors and sensor noise, and operate on Cartesian space trajectory errors. The LQG/LTR compensator together with a feedforward loop is used to simultaneously control the force exerted by the flexible manipulator normal to the environment and the position of the end-point in a direction tangent to the environment. Simulated results are presented for a numerical example.

References (16)

J.A. Maples
Force control of robotic manipulators with structural flexibility
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ASME Journal of Dynamic Systems, Measurement, and Control
(1981)

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Cited by (2)

Dynamic analysis of flexible manipulators, a literature review
2006, Mechanism and Machine Theory
In this paper a survey of the literature related to dynamic analyses of flexible robotic manipulators has been carried out. Both link and joint flexibility are considered in this work and an effort has been made to critically examine the methods used in these analyses, their advantages and shortcomings and possible extension of these methods to be applied to a general class of problems. Papers are classified according to modeling, control and experimental studies. In case of modeling they are subdivided according to the method of analysis and number of links involved in the analysis. An effort has been made to include the works of a huge variety of researchers working in this field and a total of 433 papers created in the years 1974–2005 have been reviewed in this work.
Dynamic Modeling and Simulation of two Cooperating Structurally-Flexible Robotic Manipulators
1995, Robotica

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Force control of a two-linke planar manipulator with one flexible link

Abstract

Force control of robotic manipulators with structural flexibility

Experiments on end-point position and force control of a flexible arm with a fast wrist

End point force control of a very flexible manipulator with a fast end effector

Force control in flexible manipulators

The effects of joint and link flexibilities on the dynamic stability of force-controlled manipulators

Active stiffness control of a manipulator in Cartesian coordinates

Force feedback control of manipulator fine motions

ASME Journal of Dynamic Systems, Measurement, and Control

Hybrid position/force control of manipulators

ASME Journal of Dynamic Systems, Measurement, and Control