Dynamic hybrid position/force control of n-link flexible manipulators

In this paper, a method is proposed whereby both contact force exerted by a flexible manipulator, and 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, vibrations of the flexible links, and constraint forces. A controller for the hybrid position/force control of the flexible manipulator is designed on the basis of the singular perturbation method. Experimental results confirm that the controller performs remarkably well