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.


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    Title :

    Dynamic hybrid position/force control of a flexible manipulator


    Contributors:
    Keping Liu (author) / Yuanchun Li (author) / Jian Kang (author) / Xiaobo Qu (author)


    Publication date :

    1999-01-01


    Size :

    239882 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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