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Abstract: There
exists the problems of impact, vibration and even instability when
flexible joint manipulator transition from free space movement to
constraint space contact force control. Acceleration sensor - based
feedback control is used to enhance the active damping in higher
bandwidth for the contact force control of the flexible joint
manipulator, and the narrow bandwidth limitation of only using velocity
feedback control is overcome, The contact force control of the flexible
joint manipulator system is modeled, and acceleration based control
strategy is analyzed, The experiment of contact force control for
flexible joint manipulator is carried out, The results prove the
effectiveness of the presented method.
Key words: Flexible joint
Manipulator Acceleration Coniact force Control
CLC No: TP242.2
国家自然科学基金资助项目(60034010). Received 20010913, received in revised form
20020430 |