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Position/force control of flexible mechanical structures.

Position/force control of flexible mechanical structures.

In this work, we study position/force control techniques adapted to the case of flexible manipulators. A robotic structure (LED-3) has been used with two concatenated arms that move in a horizontal plane: the first rigid and the second flexible. LED-3 models have been obtained by applying identification techniques and Bond-Graph methods. From the latter, continuous models have been linearized. Control techniques (experimental results are presented): The Impedance control gives the manipulator a dynamic, pre-designed relationship between the position and force variables. Its application to a flexible structure requires solving the problems of friction and oscillatory dynamics. The Hybrid C. proposes a parallel structure of position and force control loops. It has been applied with three linear control algorithms that allow the specification of stability and performance robustness characteristics: Assignment of Poles, Predictive C. and H-infinite Robust C.

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