第二十四屆全國學術研討會論文英文格式摘要.docVIP

Force Control of a Flexible Arm via Parallel Compensation Liang-Yih Liu Department of Automation Engineering Institute of Mechatronoptic Systems, Chien Kuo Technology University Abstract A contact force control scheme is proposed in this paper for a constrained one-link flexible arm based on a linear distributed parameter model. This model is then used to design a integral controller by parallel compensation. The control offers a good regulation of the contact force exerted by a flexible arm while in contact with a surface. In order to obtain exact solutions of the infinite dimensional system, infinite product formulation is used throughout the paper. Numerical simulations are given to demonstrate the effectiveness of the proposed method. Keywords：contact force control, flexible arm, parallel compensation. 1. Introduction For application of robot manipulators to space robots used for satellite capturing and large space structure construction, and light weight industrial robots used for assembly, deburring and grinding tasks. It is necessary to control the contact force exerted by manipulators hands. Several methods have been proposed for force control of flexible arms. Most of the works on force control are based on finite-dimensional approximate models, and some works based on distributed parameter models for a constrained flexible manipulator. Based on finite-dimensional approximate models, Chiou and Shahinpoor [1, 2] studied a single-link and a two-link constrained flexible manipulators, and pointed out that the link flexibility is the main source of dynamic instability of the force controlled systems. Later, in [3], Li used the distributed parameter model of a single-link constrained flexible manipulator to demonstrate that an inherent limitation on the achievable bandwidth of force control is due to the presence of infinitely many non-minimum phase zeros of the transfer function from the actuator torque to the tip contact force. However, no controller d