Simultaneous Force-Position Control for Grasping Using Flexible Link Manipulators

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Sudipto Sur and Richard M. Murray
1997 American Control Conference

This paper presents a new singular perturbation approach for analysing flexibility in manipulators. This approach does not treat the flexible manipulator as a perturbation of the rigid manipulator, and therefore, allows for significant amounts of flexibility (beyond the linear range). Analysis based on this approach leads to some provably stable control schemes for the position and force control of flexible-link manipulators. Simulation results are presented for a single flexible manipulator pushing against a wall.