Force and Motion Control of a Constrained Flexible Robot Arm

[+] Author and Article Information
F. L. Hu, A. G. Ulsoy

Department of Mechanical Engineering and Applied Mechanics, University of Michigan, Ann Arbor, MI 48109-2125

J. Dyn. Sys., Meas., Control 116(3), 336-343 (Sep 01, 1994) (8 pages) doi:10.1115/1.2899228 History: Revised July 01, 1992; Received September 01, 1992; Online March 17, 2008


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 proposed for control of the flexible motion using only joint actuators. Experimental studies, which demonstrate the effectiveness of the proposed method, are described.

Copyright © 1994 by The American Society of Mechanical Engineers
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