A Singular Perturbation Approach to Control of Flexible Arms in Compliant Motion

  • Bruno Siciliano
  • Luigi Villani

Summary

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.

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Copyright information

© Birkhäuser Boston 2006

Authors and Affiliations

  • Bruno Siciliano
    • 1
  • Luigi Villani
    • 1
  1. 1.Dipartimento di Informatica e SistemisticaUniversità degli Studi di Napoli Federico IINapoliItalia

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