In this paper, a dynamic hybrid control method is proposed for constrained flexible manipulators. Based on the assumed mode method, the authors derive the dynamical equations of a constrained two-link flexible manipulator. They then divide it into a slow subsystem and a fast subsystem via a singular perturbation method. For the slow subsystem, the authors present a hybrid position/force control method based on force feedback. For the fast subsystem, they design a controller based on optimal theory. Simulation results prove the effectiveness of this method.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Dynamic hybrid position/force control of a flexible manipulator


    Beteiligte:
    Keping Liu (Autor:in) / Yuanchun Li (Autor:in) / Jian Kang (Autor:in) / Xiaobo Qu (Autor:in)


    Erscheinungsdatum :

    01.01.1999


    Format / Umfang :

    239882 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Dynamic Hybrid Position/Force Control of a Flexible Manipulator

    Liu, K. / Li, Y. / Kang, J. et al. | British Library Conference Proceedings | 1999


    Dynamic Hybrid Position/Force Control of a Two-Degree-of-Freedom Flexible Manipulator

    Matsuno, F. / Yamamoto, K. | British Library Online Contents | 1993


    Hybrid Position/Force Control for Mobile Manipulator

    Narikiyo, T. / Nakagawa, M. / Kawanishi, M. | British Library Online Contents | 2008


    Quasi-Static Hybrid Position/Force Control of Flexible Manipulators by Macro-Micro Manipulator System

    Yoshikawa, T. / Harada, K. / Matsumoto, A. et al. | British Library Online Contents | 1995


    Hybrid position/force control of a hydraulic underwater manipulator

    Dunnigan, M.W. / Lane, D.M. / Clegg, A.C. et al. | Tema Archiv | 1996