Combined strategy for control of interaction force between manipulator and flexible environment

The article aims to explore the question of a hybrid strategy for control of interaction force between a manipulator and a flexible environment, aimed at conducting robotized machining of surfaces of disturbed shape, taking into account their flexibility. The hybrid control strategy combines, on the basis of competitiveness, two elementary control strategies. The first one aims at conducting the desired interaction force, whereas the objective of the latter is to model the nominal shape of the processed surface. In the event the shape of the real surface differs from the nominal shape, the aims of both strategies become competitive. A combination of two strategies which allows selecting a middle solution automatically and which allows each strategy to be executed in a „soft” way has been set forth.

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