Quasi-Static Compensation of Force Errors for Flexible Manipulators

Abstract This paper deals with the problem of controlling the interactions of flexible manipulators with their environment. For executing a force control task, a manipulator with intrinsic (mechanic) compliance has some advantages over a rigid manipulator. On the other hand, the deformations of the arm under the applied load give rise to errors in the evaluation of the kinematic model of the arm based on its rigid model. Since force feedback is usually provided by a force/torque sensor placed at the end-effector, kinematic errors reflect in force sensing errors, when a force task is specified in the world frame. This paper addresses the problem of evaluating these errors, and of compensating for them with suitable joint angle corrections. A solution to this problem is proposed in the simplifying assumptions that an accurate model of the arm flexibility is known, and that quasi-static corrections are of interest.

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