Abstract
In this paper, we consider robust force control of flexible one-link arms. Since the tip of the flexible arm contacts with a given constraint surface, a constraint condition should be satisfied. By using Hamilton's principle, we derive dynamic equations of the joint angle, the vibration of the flexible arm. and the constraint force. We construct an optimal controller with low-pass property to compensate the spillover instability. ASet of experiments has been carried out. Experimental results confirm that the controllers perform remarkably well.
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