Modeling of a Flexible Link in Contact: Strain vs. Force Output
Keyword(s):
Many control design techniques for force control of flexible link manipulators, require an adequate transfer function model of the manipulator in contact. In this paper we derive a simple transfer function model for a single flexible link in contact with stiff environment. While the transfer function from input torque to contact force is nonminimum phase, we show that the transfer function from input torque to strain results in a minimum phase transfer function and thus, it provides an attractive, alternative output for force control of flexible link manipulators. Experimental results verify the validity of the presented models.
2021 ◽
Vol 1909
(1)
◽
pp. 012079
Keyword(s):
2001 ◽
Vol 36
(5)
◽
pp. 579-588
◽
Keyword(s):
2014 ◽
Vol 58
(1)
◽
pp. 29-39
◽
Keyword(s):
Keyword(s):