Dynamic hybrid position/force control of a flexible manipulator which has two degrees of freedom and flexible second link

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. The authors approximate elastic deformations by means of B-spline functions and derive dynamic equations of joint angles. A controller for the hybrid position/force control of the flexible manipulator is designed on the basis of the singular perturbation method.<
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