Modelling for two-time scale force/position control of flexible robots

Distributed flexibility of the links is a severe obstacle for the endpoint position control of lightweight manipulators. In order to accomplish with satisfactory performance certain tasks involving a controlled interaction of the tip of the robot with the worksurfaces, a combined control of the motion and the contact forces can provide some advantages. This paper presents a general and systematic model of a flexible robot interacting with a rigid environment. A force/position control scheme based on this model is also introduced. Results obtained simulating the constrained motion of an existing 2-DOF flexible arm are given