Title :
Control strategy of flexible manipulators for contact motion to moving object
Author :
Morita, Yoshifumi ; Tsujimura, Keiji ; Ukai, Hiroyuki ; Kando, Hisashi
Author_Institution :
Dept. of Electr. & Comput. Eng., Nagoya Inst. of Technol., Japan
Abstract :
This paper presents a control strategy of flexible manipulators for the contact motion to a moving object with a constant velocity. Our purpose is to design a controller in order to accomplish the smooth transition from a free space to a constrained space with changing control laws at a collision. The proposed controller consists of a hybrid position/force PI control, vibration suppression control, and mode selector. In order to improve the control performance degraded by the elasticity of flexible arms, the controller is designed on the basis of the concept of decomposition of elastic vibration. Some experimental results show the effectiveness of the proposed controller
Keywords :
feedback; flexible manipulators; force control; manipulator kinematics; motion control; position control; two-term control; vibration control; PI control; constrained space; contact motion; elastic vibration; feedback; flexible arms; flexible manipulators; force control; kinematics; mode selector; position control; vibration control; Contacts; Control systems; Elasticity; Force control; Motion control; Pi control; Space technology; Technology management; Velocity control; Vibration control;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976286
