<abstract xmlns="http://www.w3.org/1999/xhtml"><p>The paper presents the issue position/force control of a manipulator in contact with the flexible environment. It consists of the realisation of manipulator end-effector motion on the environment surface with the simultaneous appliance of desired pressure on the surface. The paper considers the case of a flexible environment when its deformation occurs under the pressure, which has a significant influence on the control purpose realisation. The article presents the model of the controlled system and the problem of tracking control with the use of neural networks. The control algorithm includes contact surface flexibility in order to improve control quality. The article presents the results of numerical simulations, which indicate the correctness of the applied control law.</p></abstract>

The paper presents the issue position/force control of a manipulator in contact with the flexible environment. It consists of the realisation of manipulator end-effector motion on the environment surface with the simultaneous appliance of desired pressure on the surface. The paper considers the case of a flexible environment when its deformation occurs under the pressure, which has a significant influence on the control purpose realisation. The article presents the model of the controlled system and the problem of tracking control with the use of neural networks. The control algorithm includes contact surface flexibility in order to improve control quality. The article presents the results of numerical simulations, which indicate the correctness of the applied control law.

Position/Force Control of Manipulator in Contact with Flexible Environment

Faculty of Mechanical Engineering and Aeronautics, Department of Applied Mechanics and Robotics

Acta Mechanica et Automatica

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

{"article-title":"Position/Force Control of Manipulator in Contact with Flexible Environment"}

The paper presents the issue position/force control of a manipulator in contact with the flexible environment. It consists of the realisation of manipulator...

Position/Force Control of Manipulator in Contact with Flexible Environment

Published Online: Apr 18, 2019

Page range: 16 - 22

Received: Jun 26, 2018

Accepted: Mar 07, 2019

DOI: https://doi.org/10.2478/ama-2019-0003

Keywords
Robotics, robot control, nonlinear control systems

© 2019 Piotr Gierlak, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Position/Force Control of Manipulator in Contact with Flexible Environment

Published Online: Apr 18, 2019

Page range: 16 - 22

Received: Jun 26, 2018

Accepted: Mar 07, 2019

DOI: https://doi.org/10.2478/ama-2019-0003

KeywordsRobotics, robot control, nonlinear control systems

© 2019 Piotr Gierlak, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
Robotics, robot control, nonlinear control systems