Hybrid force and position control of a manipulator with an elastic link

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.

Name thesis:degree_name

Master of Science (MS)

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor dc:publisher

University of Nevada, Las Vegas

Year

1995

Author dc:creator

• Conn, Randy S

Statement dc:rights

• IN COPYRIGHT. For more information about this rights statement, please visit http://rightsstatements.org/vocab/InC/1.0/

Language dc:language

English

Identifier

https://oasis.library.unlv.edu/rtds/576

OAI identifier oai:identifier

oai:oasis.library.unlv.edu:rtds-1575