Force control of high-speed, lightweight robotic manipulators

Dynamic simulation of task constrained of a rigid-flexible manipulator

“…x and F y represent the applied forces by the endeffector on the surface in contact including the inertia forces of the end-effector and is modeled with a spring (Su, et al, 1990): For the second link, the equation due to the flexibility effect is given by:…”

“…In the present study, we neglect the effect of this friction force. --F x and F y represent the applied forces by the endeffector on the surface in contact including the inertia forces of the end-effector and is modeled with a spring (Su, et al, 1990):…”

“…In 1981, the first attempt in dealing with this problem for rigid manipulators was proposed by applying hybrid position/forcce control scheme ( Raibert, M. & Craig, J., 1981). For rigid-flexible manipulator, the work by (Su, et al 1990) represented the earliest study in force control of constrained maneuver. In 1994, a dynamic modeling and force/motion control of constrained flexible robot was presented .…”

Trajectory Planning of a Constrained Flexible Manipulator

“…These applications include grinding, deburring, cutting, polishing, and the list continues. For the last two decades many researchers have investigated the constrained motion problem through different techniques such as hybrid position/force control (Raibert, M. &Craig, J., 1981 andShutter et al, 1996), force control (Su, et al, 1990) , nonlinear modified CorlessLeitman controller (Hu, F. & Ulsoy, G., 1994), two-time scale force position control (Rocco, P. & Book, W., 1996), multi-variable controller (Shi, et al, 1990), parallel force and position control (Siciliano & Villani, L.,2000) , and multi-time-scale fuzzy logic controller (Lin, J., 2003). Luca et al (Luca, D. & Giovanni, G., 2001) introduced rest-to-rest motion of a twolink robot with a flexible forearm.…”

Cubic-Spline Trajectory Planning of a Constrained Flexible Manipulator

“…These applications include grinding, deburring, cutting, polishing, and the list continues. For the last two decades many researchers have investigated the constrained motion problem through different techniques such as hybrid position/force control [1 and 2], force control [3] , nonlinear modified Corless-Leitman controller [4], two-time scale force position control [5], multi-variable controller [6], parallel force and position control [7] , and multi-time-scale fuzzy logic controller [8]. Luca et al [9] introduced rest-to-rest motion of a two-link robot with a flexible forearm.…”