Quasi-Static Hybrid Position/Force Control of Two-Degree-of-Freedom Flexible Manipulators

In this paper, a method is proposed whereby both contact force exerted by a flexible manipulator and position of end-effector while in contact with a surface are controlled. We first derive exact dynamic equations of joint angles, vibration of the flexible links, and contact force by means of Hamilton's principle. Then, a controller for the hybrid position/force control of the flexible manipulator is designed on the basis. of theobtained model. A set of experiments for the hybrid control of the flexible manipulator using a force sensor has been carried out. Several experimental results are shown.