Force Control of Manipulators with Considering Flexibility.

概要

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In this paper, a simple model with considering flexibility of constrained manipulators is proposed by introducing a set of equivalent springs. On the basis of the proposed model we derive a controller, which compensates the vibrations of the contact force. For measuring the vibrations and the contact force, accelerometers and a force sensor are used. Output signals of the sensors are fedback to driving motors for controlling the position of the end-effector and the contact force. Experimental results are shown.
公益社団法人計測自動制御学会の論文