Summary
The problem of controlling the interaction of a flexible link arm with a compliant environment is considered. The arm’s tip is required to keep contact with a surface by applying a constant force and maintaining a prescribed position or following a desired path on the surface. Using singular perturbation theory, the system is decomposed into a slow subsystem associated with rigid motion and a fast subsystem associated with link flexible dynamics. A parallel force and position control developed for rigid robots is adopted for the slow subsystem, while a fast control action is employed to stabilize the link deflections. Simulation results are presented for a two-link planar arm under gravity in contact with an elastically compliant surface.
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© 2006 Birkhäuser Boston
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Siciliano, B., Villani, L. (2006). A Singular Perturbation Approach to Control of Flexible Arms in Compliant Motion. In: Menini, L., Zaccarian, L., Abdallah, C.T. (eds) Current Trends in Nonlinear Systems and Control. Systems and Control: Foundations & Applications. Birkhäuser Boston. https://doi.org/10.1007/0-8176-4470-9_14
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DOI: https://doi.org/10.1007/0-8176-4470-9_14
Publisher Name: Birkhäuser Boston
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