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• W1892017191 abstract "A simple model and a hybrid position/force controller of constrained flexible manipulators having a heavy end-effector are presented by introducing a set of equivalent springs which represent all the flexibilities of a constrained manipulator. The dynamic relation of joint angles, vibration of the end-effector, and constraint force are derived on the basis of the proposed model. For measuring the vibrations and the contact force, accelerometers and a force sensor are used. Output signals of the sensors are fed back to the driving motors for controlling the position of the end-effector and the contact force. A feedback controller incorporating an observer is presented on the basis of the dynamic model. Simulation results are shown. >" @default.
• W1892017191 created "2016-06-24" @default.
• W1892017191 creator A5015434555 @default.
• W1892017191 date "2003-01-02" @default.
• W1892017191 modified "2023-09-26" @default.
• W1892017191 title "Hybrid position force control of flexible manipulators on the basis of an equivalent spring model" @default.
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• W1892017191 doi "https://doi.org/10.1109/iecon.1992.254553" @default.
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