Force Control of Constrained Flexible Manipulators - Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

I n this paper, we discuss the force control of flexible manipulators. Since the force control of flexible manipulators with planar one or two links using the distributed-parameter modeling has been the subject of a considerable number of publications until now, so real t ime computations of the force control schemes are possible. But, application of those control schemes to multi-link spatial flexible manipulators is fairly complicated. I n this paper, we apply a concise hybrid position/force control scheme to a flexible manipulator using a lumped-parameter modeling. The Hamilton’s principle is applied to deriving the equations of motion and then, a state-space model is obtained b y the Lagrange’s method. Finally, a comparison between simulation and experimental results is presented to show the performance of our method.