This paper presents a position control method in multi-degrees of freedom flexible manipulator. For the control of flexible manipulator, it is easy to construct the controller in each joint. In practical application, however, the workspace is preferred to the joint space for position control of multi-degrees of freedom manipulator. This paper shows a novel control strategy of flexible manipulator in the workspace. First, to suppress the vibration of the arm, the proposed approach introduces the feedback of reaction torque. Second the controller includes a displacement feedback caused by the elastic deformation of the arm to increase the response speed. The combination of the reaction torque feedback in the joint space and the displacement feedback brings the stable and robust position control in multi-degrees of freedom flexible manipulator. The effectiveness of the proposed method is confirmed by several experiments.
|出版ステータス||Published - 1998 1月 1|
|イベント||Proceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4) - Aachen, Ger|
継続期間: 1998 8月 31 → 1998 9月 4
|Other||Proceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4)|
|Period||98/8/31 → 98/9/4|
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