Title :
Force and Motion Control of a Constrained Flexible Robot Arm
Author :
Hu, F.L. ; Ulsoy, A.G.
Author_Institution :
Dept. of Mechanical Engineering and Applied Mechanics, University of Michigan, Ann Arbor, Michigan 48109-2125
Abstract :
The results of a study on the combined joint motion control, vibration control, and force control of a constrained rigid-flexible robot arm for both regulation and tracking are presented. A nonlinear modified Corless-Leitmann controller is proposeed for control of the flexible motion using only joint actuators. Experimental studies, which demonstrate the effectiveness of the proposed method, are described.
Keywords :
Error correction; Force control; Force measurement; Manipulators; Motion control; Robot kinematics; Robotic assembly; Service robots; Tracking; Vibration control;
Conference_Titel :
American Control Conference, 1993
Conference_Location :
San Francisco, CA, USA
Print_ISBN :
0-7803-0860-3
