Abstract
This paper presents some results achieved in the position/force control of a flexible robotic structure in both free and constrained movements. The control has been developed using Generalized Predictive Control (GPC) with a partial state reference model. After describing the flexible structure and a brief introduction to OPC, the paper deals with the controller design for both position and force tasks. Some simulation results are presented and discussed. A hybrid position/force control scheme was chosen for the constrained position/force tasks. The supervisor in charge of choosing the adequate control strategy is described before presenting some results obtained in the experimental trials.
Published Version
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