{"id":{"repo_id":"unlv","oai_identifier":"oai:oasis.library.unlv.edu:rtds-1575"},"canonical_url":"https://search.dev.ndltd.org/etd/unlv/oai:oasis.library.unlv.edu:rtds-1575","repository":{"repo_id":"unlv","name":"University of Nevada - Las Vegas","base_url":"https://oasis.library.unlv.edu/do/oai/"},"display":{"title":"Hybrid force and position control of a manipulator with an elastic link","abstract":"This thesis describes the hybrid force and position control of an elastic manipulator constrained by a surface. Based on the inverse and predictive control techniques, the proposed controller minimizes a quadratic function of contact force error, tip tracking error, elastic deflection, and control torques. Applying the proposed controller to a two-link planar manipulator where the first link is rigid and the second elastic, computer simulation and laboratory experiment results are presented to show the effectiveness of the proposed controller for force and position control and elastic mode stabilization.","abstract_html":"This thesis describes the hybrid force and position control of an elastic manipulator constrained by a surface. Based on the inverse and predictive control techniques, the proposed controller minimizes a quadratic function of contact force error, tip tracking error, elastic deflection, and control torques. Applying the proposed controller to a two-link planar manipulator where the first link is rigid and the second elastic, computer simulation and laboratory experiment results are presented to show the effectiveness of the proposed controller for force and position control and elastic mode stabilization.","abstract_has_math":false,"creators":["Conn, Randy S"],"institution":"University of Nevada, Las Vegas","degree_name":"Master of Science (MS)","degree_level":"Thesis","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":[],"advisors":[],"committee_chairs":[],"committee_members":[],"year":1995,"date_issued":"1995-01-01T08:00:00Z","date_published":"1995-01-01T08:00:00Z","updated_at":"2026-07-24T05:24:45Z","subjects":[],"languages":["English"],"rights":["IN COPYRIGHT. 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Applying the proposed controller to a two-link planar manipulator where the first link is rigid and the second elastic, computer simulation and laboratory experiment results are presented to show the effectiveness of the proposed controller for force and position control and elastic mode stabilization."]},{"key":"dc:format","label":"Dc Format","values":["pdf"]},{"key":"dc:title","label":"Title","values":["Hybrid force and position control of a manipulator with an elastic link"]}]}],"canonical_facts":{"dc:creator":["Conn, Randy S"],"dc:description.abstract":["This thesis describes the hybrid force and position control of an elastic manipulator constrained by a surface. Based on the inverse and predictive control techniques, the proposed controller minimizes a quadratic function of contact force error, tip tracking error, elastic deflection, and control torques. Applying the proposed controller to a two-link planar manipulator where the first link is rigid and the second elastic, computer simulation and laboratory experiment results are presented to show the effectiveness of the proposed controller for force and position control and elastic mode stabilization."],"dc:format":["pdf"],"dc:identifier":["10.25669/tdyr-j1az","https://oasis.library.unlv.edu/rtds/576","https://oasis.library.unlv.edu/context/rtds/article/1575/viewcontent/uc.pdf"],"dc:language":["English"],"dc:publisher":["University of Nevada, Las Vegas"],"dc:rights":["IN COPYRIGHT. For more information about this rights statement, please visit http://rightsstatements.org/vocab/InC/1.0/"],"dc:title":["Hybrid force and position control of a manipulator with an elastic link"],"dc:type":["Text"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["Master of Science (MS)"]},"updated_at":"2026-07-24T05:24:45Z"}