| In this work, the control of both position and force of flexible manipulators is presented. Some basic validation of symbolic modelling with Symofros package is done. Relations between the measured strain in the flexible beam and the force of contact are derived in both static and dynamic cases. These relations are verified by simulations and experimentations.; The singular perturbation theory is used to derive a singular perturbed model of flexible the robot. By using this method, the slow subsystem and the fast subsystem are derived. The control law of the slow subsystem is developed using various algorithms relating to manipulator of rigid structures. In addition, the LQG method is used to derive the control law of the fast subsystem. The force/position control of the flexible manipulator is obtained by combining the slow and the fast control inputs. Application to a simple flexible robot of one degree of freedom is presented using simulation. |
