Force and Motion Control of a Constrained Flexible Robot Arm

摘要

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