Controllers developed for control of flexible-link robots in hybridudforce-position control tasks by a new singular perturbation analysisudof flexible manipulators are implemented on an experimental two-robotudgrasping setup. Performance criteria are defined for the graspingudtask. We present preliminary experimental data to show the tradeoffsudbetween controller complexity and performance enhancement as we dealudwith greater flexibility. Various performance criteria are set up andudexperimental results are discussed within that setting. We concludeudthat large flexibility can be controlled and can lead to reasonableudperformances. ud
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机译：通过实验性的两机器人抓握设置，实现了通过新的奇异摄动分析 udof挠性机械手为混合/增力位置控制任务中的柔性链接机器人进行控制而开发的控制器。为抓取任务定义了性能标准。我们提供了初步的实验数据，以显示随着我们处理更大的灵活性而在控制器复杂性和性能增强之间的权衡。设置各种性能标准，并在该设置中讨论实验结果。我们得出结论，可以控制大的灵活性，并且可以导致合理的性能。 ud
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