Force Control Of Flexible Arm Research Articles

Bending moment-based force control of flexible arm under gravity

We discuss the force control problem for a constrained one-link flexible arm with the effect of gravity, based on a distributed parameter model. To solve the force control problem, we propose a simple controller constructed using only the bending moment at the root of the flexible arm. Information about the force and rotational angle of the motor is not necessary for implementation of the controller, and thus a force sensor and encoder are not needed. Several numerical simulations were carried out to determine the performance of the proposed controller, and we found that it works well for force control.

Force Control of Flexible Arm Using Two-Degree-of-Freedom Control System.

So far, a considerable amount of research has been devoted to flexible arms, especially to their modelling, position control and vibration control. Meanwhile very few research has addressed the problem of force control, since it is one of the most important functions of the robot tasks. In this paper, we present a two-degree-of-freedom control system for the force control of flexible cartesian robots. Use of a two-degree-of freedom control system guarantees the independent design of the feedforward and feedback control characteristics. The feedforward controller is designed using inverse dynamics, while the design of the stabilized feedback controller is achieved by Lyapunov's direct method. Numerical simulation and experimental results confirm that faster precise force control can be realized with the proposed control system.