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.

引用

页码：35 / 43