Authors:
L. F. Baptista
1
;
J. M. M. Martins
2
and
J. M. G. Sá da Costa
2
Affiliations:
1
Escola Náutica Infante D. Henrique, Portugal
;
2
Instituto Superior Técnico, GCAR/IDMEC, Portugal
Keyword(s):
Flexible-link manipulator, closed-loop inverse kinematics, interaction control, real-time control.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Robot Design, Development and Control
;
Robotics and Automation
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.