Abstract
One of the major drawbacks of flexible-link robot applications is its low tip precision, which is an essential characteristic for applications with interaction control with a contact surface. In this work, interaction control strategies considering rigid and flexible contact surfaces are applied on a two degrees of mobility flexible-link manipulator. The interaction strategies are based on the closed-loop inverse kinematics algorithm (CLIK) to obtain the angular references to the joint position controller. The control schemes were previously tested by simulation and further implemented on the flexible-link robot. The obtained experimental results exhibit a good force tracking performance, especially for a rigid surface, and reveal the successful implementation of these control architectures for a robot with one flexible link.
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© 2008 Springer-Verlag Berlin Heidelberg
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Baptista, L.F., Bóia, N.F.S., Martins, J.M.M., Sá da Costa, J.M.G. (2008). Interaction Control Experiments for a Robot with one Flexible Link. In: Cetto, J.A., Ferrier, JL., Costa dias Pereira, J., Filipe, J. (eds) Informatics in Control Automation and Robotics. Lecture Notes Electrical Engineering, vol 15. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-79142-3_13
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DOI: https://doi.org/10.1007/978-3-540-79142-3_13
Publisher Name: Springer, Berlin, Heidelberg
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