Internal Stabilization in Dynamic Hybrid Position/Force Control of Flexible Manipulators by Macro-Micro System.

DOI Web Site Web Site 11 References

Bibliographic Information

Other Title
  • マクロ‐マイクロシステムによるフレキシブルアームの動的な位置と力のハイブリッド制御における内部安定化
  • マクロ マイクロ システム ニヨル フレキシブル アーム ノ ドウテキ ナ イ

Search this article

Abstract

In this paper, we propose a control method in dynamic hybrid position/force control of macro-micro manipulator systems. The macro-micro system has a small rigid manipulator at the tip of a flexible manipulator. In our control method, the end point position controller, the force controller and the controller of the zero-dynamics are decoupled. Precise end point tracking with internal stabilization is available in the controller of the macro-micro system. First, we model the macro-micro system. Then we construct a dynamic hybrid position/force controller. Third we show the experimental results.

Journal

References(11)*help

See more

Keywords

Details 詳細情報について

Report a problem

Back to top