The problem of controlling the interaction of a flexible link manipulator with a compliant environment is considered. The manipulator's tip is required to keep contact with a surface by applying a constant force and maintaining a prescribed position or following a desired path on the surface. Using singular perturbation theory, the system is decomposed into a slow subsystem associated with rigid motion and a fast subsystem associated with link flexible dynamics. A parallel force and position control developed for rigid robots is adopted for the slow subsystem while a fast control action is employed to stabilise the link deflections. Simulation results are presented for a two-link planar manipulator under gravity in contact with an elastically compliant surface.
Parallel force and position control of flexible manipulators / Siciliano, Bruno; Villani, Luigi. - In: IEE PROCEEDINGS. CONTROL THEORY AND APPLICATIONS. - ISSN 1350-2379. - STAMPA. - 147:(2000), pp. 605-612. [10.1049/ip-cta:20000730]
Parallel force and position control of flexible manipulators
SICILIANO, BRUNO;VILLANI, LUIGI
2000
Abstract
The problem of controlling the interaction of a flexible link manipulator with a compliant environment is considered. The manipulator's tip is required to keep contact with a surface by applying a constant force and maintaining a prescribed position or following a desired path on the surface. Using singular perturbation theory, the system is decomposed into a slow subsystem associated with rigid motion and a fast subsystem associated with link flexible dynamics. A parallel force and position control developed for rigid robots is adopted for the slow subsystem while a fast control action is employed to stabilise the link deflections. Simulation results are presented for a two-link planar manipulator under gravity in contact with an elastically compliant surface.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.