Quasi-static hybrid position/force control of two-degree-of-freedom flexible manipulators

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 first derive the exact dynamic equations of joint angles, vibration of the flexible links, and contact force by means of the Hamilton´s principle. Then, a controller for the hybrid position/force control of the flexible manipulator is designed on the basis of the model obtained. 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