INTERACTION CONTROL EXPERIMENTS FOR A ROBOT WITH ONE FLEXIBLE LINK

L. F. Baptista, J. M. M. Martins, J. M. G. Sá da Costa

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.

References

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Paper Citation


in Harvard Style

F. Baptista L., M. M. Martins J. and M. G. Sá da Costa J. (2006). INTERACTION CONTROL EXPERIMENTS FOR A ROBOT WITH ONE FLEXIBLE LINK . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 66-73. DOI: 10.5220/0001204900660073


in Bibtex Style

@conference{icinco06,
author={L. F. Baptista and J. M. M. Martins and J. M. G. Sá da Costa},
title={INTERACTION CONTROL EXPERIMENTS FOR A ROBOT WITH ONE FLEXIBLE LINK},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={66-73},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001204900660073},
isbn={978-972-8865-60-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - INTERACTION CONTROL EXPERIMENTS FOR A ROBOT WITH ONE FLEXIBLE LINK
SN - 978-972-8865-60-3
AU - F. Baptista L.
AU - M. M. Martins J.
AU - M. G. Sá da Costa J.
PY - 2006
SP - 66
EP - 73
DO - 10.5220/0001204900660073