Position inner loop impedance control of flexible link and flexible joint

DOI

10.2991/icsma-16.2016.81How to use a DOI?

Keywords

Flexible manipulator. Dynamics Impedance control

Abstract

When space robot arm implement the task, there was a certain requirement to tracking and contacting force in order to ensure the accuracy of the mission, and the structure of the robot arm was also affect the controlling effect. For this reason, we took considering the effect of the flexible joint / flexible manipulators, established the dynamics model by Kane equation and design impedance controller. In the end, the control simulation platform was established in MATLAB/Simulink. And we contrasted the response of the flexible manipulator to the different controller. The simulation results show that flexibility of characteristics could cause jitter in some degrees. The design of the impedance controller can realize the trajectory tracking and contact force control of the flexible manipulator.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Shanshan Ren
AU  - Ming Chu
AU  - Qingxuan Jia
PY  - 2016/12
DA  - 2016/12
TI  - Position inner loop impedance control of flexible link and flexible joint
BT  - Proceedings of the 2016 4th International Conference on Sensors, Mechatronics and Automation (ICSMA 2016)
PB  - Atlantis Press
SP  - 454
EP  - 459
SN  - 1951-6851
UR  - https://doi.org/10.2991/icsma-16.2016.81
DO  - 10.2991/icsma-16.2016.81
ID  - Ren2016/12
ER  -