A Singular Perturbation Approach to Control of Flexible Arms in Compliant Motion
The problem of controlling the interaction of a flexible link arm with a compliant environment is considered. The arm’s tip is required to keep contact with a surface by applying a constant force and maintaining a prescribed position or following a desired path on the surface. Using singular perturbation theory, the system is decomposed into a slow subsystem associated with rigid motion and a fast subsystem associated with link flexible dynamics. A parallel force and position control developed for rigid robots is adopted for the slow subsystem, while a fast control action is employed to stabilize the link deflections. Simulation results are presented for a two-link planar arm under gravity in contact with an elastically compliant surface.
KeywordsContact Force Joint Torque Fast Subsystem Singular Perturbation Theory Compliant Motion
Unable to display preview. Download preview PDF.
- 3.Book WJ (1984) Recursive Lagrangian dynamics of flexible manipulator arms. International Journal of Robotics Research 3:(3)87–101Google Scholar
- 6.Siciliano B, Book WJ (1988) A singular perturbation approach to control of lightweight flexible manipulators. International Journal of Robotics Research 7(4):79–90Google Scholar
- 9.Vandergrift MW, Lewis FL, Zhu SQ (1994) Flexible-link robot arm control by a feedback linearization/singular perturbation approach. Journal of Robotic Systems 11:591–603Google Scholar
- 17.Yang JH, Lian FL, Fu LC (1995) Adaptive hybrid position/force control for robot manipulators with compliant links. Proceedings 1995 IEEE International Conference on Robotics and Automation, Nagoya, Japan, 603–608Google Scholar
- 18.Lew JY, Book WJ (1993) Hybrid control of flexible manipulators with multiple contact. Proceedings 1993 IEEE International Conference on Robotics and Automation, Atlanta, GA, 2:242–247Google Scholar
- 20.Rocco P, Book WJ (1996) Modelling for two-time scale force/position control of flexible robots. Proceedings 1996 IEEE International Conference on Robotics and Automation, Minneapolis, MN, 1941–1946Google Scholar