Title

Force Control of a Two-Linke Planar Manipulator with One Flexible Link

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.

Department(s)

Mechanical and Aerospace Engineering

Keywords and Phrases

Control Systems - Robustness; Equations of Motion - Applications; Robots - Control Systems; Cartesian Space Control; Constrained Maneuvers; Flexible Robotic Manipulators; Force Control; Hamilton's Principle; Linear Quadratic Gaussian/Loop Transfer Recovery (LQG/LTR); Robots

International Standard Serial Number (ISSN)

09218890

Document Type

Article - Journal

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 1991 Elsevier, All rights reserved.

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