Modeling and quasi-static hybrid position/force control of constrained planar two-link flexible manipulators

A method is proposed whereby both contact force exerted by a flexible manipulator and position of end-effector while in contact with a surface are controlled. The authors derive dynamic equations of joint angles, vibrations of flexible links, and contact force by means of Hamilton´s principle. On the basis of some assumptions the authors derive the quasi-static equations and design the hybrid position/force controller of the flexible manipulator. 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