Control strategy of flexible manipulators for contact motion to moving object

摘要

This paper presents a control strategy of flexible manipulators for the contact motion to a moving object with a constant velocity. Our purpose is to design a controller in order to accomplish the smooth transition from a free space to a constrained space with changing control laws at a collision. The proposed controller consists of a hybrid position/force PI control, vibration suppression control, and mode selector. In order to improve the control performance degraded by the elasticity of flexible arms, the controller is designed on the basis of the concept of decomposition of elastic vibration. Some experimental results show the effectiveness of the proposed controller.