Modelling for Two-Time Scale Force/Position Control of Flexible Robots
Book, Wayne John
MetadataShow full item record
Distributed flexibility of the links is a severe obstacle for the endpoint position control of lightweight manipulators. In order to accomplish with satisfactory performance certain tasks involving a controlled interaction of the tip of the robot with the worksurfaces, a combined control of the motion and the contact forces can provide some advantages, as it is now recognized for rigid robots. This paper presents a model of a flexible robot interacting with a rigid environment, together with a control scheme designed to achieve the simultaneous control of both the motion of the end effector and the forces at the contact. The time scale separation of the control actions, deriving from singular perturbation theory, is exploited in the design of the controller, which is made up by modular and easy-to-tune components. Simulation results obtained on a detailed nonlinear model of an existing 2 d.o.f. flexible arm are also given.