Experimental and theoretical observations on the dynamic stability of a one-link force-controlled flexible manipulator

A simplified dynamic model for a one-link tip force-controlled flexible manipulator is simulated. Experimental work is then carried out and comparisons are made with the theoretical dynamic simulations. Results show that, during the initial contact process, separation between the manipulator and the environment occurs to the link elastic motion. This nonlinear effect causes a delay of force actuation and the occurrence of impacts, which are significant and detrimental to the system dynamic stability. It is shown that the nonlinear effects can be minimized by preloading an initial contact force through open-loop control