Abstract
In this paper, a method is proposed whereby both contact force exerted by a flexible manipulator and position of end-effector while in contact with a surface are controlled. We derive dynamic equations of joint angles, vibration of the flexible links, and contact force by means of Hamilton's principle. On the basis of some assumptions we derive the quasi-static equations and design the hybrid position/force controller of the flexible manipulator. A set of experiments for the hybrid control of the flexible manipulator using a force sensor has been carried out. Several experimental results are shown
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