Abstract

There exist the problems of impact, vibration and even instability when flexible joint manipulator transition from free space movement to constraint space contact force control. And the dynamic characteristics are different when contact different stiffness environment, which related to sensor dynamics, the dynamic characteristics of robot itself and that of environment. The contact force control models of single degree of freedom flexible joint manipulator system were built up, and the simple models were obtained according to contact different environment, this help to analyze the dynamic characteristics and design the controller. After setting up the flexible manipulator of harmonic drive system test bed, the experimental identification and contact force control for flexible joint manipulator were carried out, and one can get the models by experimental measurement of the actuator-to-sensor transfer functions. The results prove the correctness of the theoretical analysis, and the model can be used to design the contact force controller for the flexible joint manipulator as reference.

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