Dynamic hybrid position/force control of a flexible manipulator

被引：0
|
作者：
Li, Yuanchun [1 ]
Liu, Keping [1 ]
Qu, Xiaobo [1 ]
机构：
[1] JiLin Univ of Technology, ChangChun, China
来源：
Advances in Modeling and Analysis C | 2000年 / 55卷 / 1-2期
关键词：
Feedback control - Force control - Perturbation techniques - Position control - Vectors;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In this paper. A dynamic hybrid control method is proposed for constrained flexible manipulators. Based on the assumed mode method, we derive the dynamical equations of a constrained two-link flexible manipulator. Then we divide it into slow subsystem and fast subsystem via singular perturbation method. For the slow subsystem, we present a hybrid position/force control method basing on the feedback of force. For the fast subsystem, we design a controller basing on optimal theory. Simulation results prove the effectiveness of this method.
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页码：35 / 43
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