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Hybrid position/force control of flexible manipulators by macro-micro manipulator system

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5 Author(s)
T. Yoshikawa ; Dept. of Mech. Eng., Kyoto Univ., Japan ; K. Hosoda ; K. Harada ; A. Matsumoto
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In this paper, to realize the hybrid position/force control of a flexible manipulator, the macro-micro manipulator system is used. The macro manipulator can move widely, but can not realize fast and precise motion because of its flexibility. To compensate the position and force errors, a micro manipulator is attached at the tip of the macro manipulator. The kinematic equations of the macro-micro manipulator system are introduced. By utilizing the redundancy and flexibility of the system, the trajectory planning is discussed. A quasi-static hybrid position/force control algorithm and a dynamic hybrid position/force control algorithm are proposed. Lastly, experimental results are shown to verify the effectiveness of the proposed control algorithms

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994