Quasi-static hybrid position/force control of a flexible manipulator

A method is proposed whereby both the contact force exerted by a flexible manipulator and the position of the end effector while in contact with a surface are controlled. Exact dynamic equations for joint angles, vibration of the flexible link, and constraint force are derived by means of Hamilton's principle. A controller for the hybrid position/force control of the flexible manipulator is designed on the basis of the obtained model. A set of experiments for the hybrid control of the flexible manipulator using a force sensor has been carried out. Several experimental results are shown.<
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