Hybrid position/force control of flexible manipulators by macro-micro manipulator system

Abstract

In this paper, to realize the hybrid position/force control of a flexible manipulator, the macro-micro manipulator system is used. The macro manipulator can move widely, but can not realize fast and precise motion because of its flexibility. To compensate position and force errors, a micro manipulator is attached at the tip of the macro manipulator. First, kinematic equations of the macro-micro manipulator system are introduced. Second, utilizing the redundancy and the flexibility of the system, trajectory planning is discussed. Third, a quasi-static hybrid position/force control algorithm is proposed. Fourth, a dynamic hybrid position/force control algorithm is proposed. Lastly, to verify the effectiveness of the proposed control algorithms, experimental results are shown.