Modeling and quasi-static hybrid position/force control of constrained planar two-link flexible manipulators

A method is proposed whereby both contact force exerted by a flexible manipulator and position of end-effector while in contact with a surface are controlled. The authors derive dynamic equations of joint angles, vibrations of flexible links, and contact force by means of Hamilton's principle. On the basis of some assumptions the authors derive the quasi-static equations and design the hybrid position/force controller of the flexible manipulator. A set of experiments for the hybrid control of the flexible manipulator using a force sensor has been carried out. Several experimental results are shown.>