Title :
Simultaneous force-position control for grasping using flexible link manipulators
Author :
Sur, Sudipto ; Murray, Richard M.
Author_Institution :
Div. of Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA
Abstract :
This paper presents a new singular perturbation approach for analyzing flexibility in manipulators. This approach does not treat the flexible manipulator as a perturbation of the rigid manipulator, and therefore, allows for significant amounts of flexibility (beyond the linear range). Analysis based on this approach leads to some provably stable control laws for the position and force control of flexible-link manipulators. Simulation results are presented for a single constrained flexible manipulator
Keywords :
flexible structures; force control; manipulator dynamics; manipulator kinematics; position control; singularly perturbed systems; dynamics; flexible link manipulators; force control; grasping; kinematics; position control; singular perturbation; Control systems; Fingers; Force control; Manipulator dynamics; Nanoscale devices; Orbital robotics; Position control; Robot control; Robustness; Surgery;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.610657
