Force Control of High-Speed, Lightweight Robotic Manipulators
Force control of a two-link planar manipulator with one flexible link is considered in this study. The equations of motion of the planar manipulator are derived using the extended Hamilton's principle with only structurally flexibility effects included in the dynamic model. A control algorithm for constrained maneuvers (manipulator end-effector is required to exert a specified force on the environment as it moves along a specified path) is presented. The approach to solving the control problem is to use feedforward and feedback control torques. The feedforward torques maneuver the flexible manipulator along a nominal trajectory and the feedback torques (obtained using LQR theory) minimize the deviation from the nominal trajectory. Simulated results are presented for a numerical example.
H. J. Su et al., "Force Control of High-Speed, Lightweight Robotic Manipulators," Mathematical and Computer Modelling, vol. 14, no. C, pp. 474-479, Elsevier Limited, Jan 1990.
The definitive version is available at http://dx.doi.org/10.1016/0895-7177(90)90229-G
Mechanical and Aerospace Engineering
Keywords and Phrases
Constrained maneuvers; flexible robotic manipulators; force control
International Standard Serial Number (ISSN)
Article - Journal
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