Inverse Force and Motion Control of Constrained Elastic Robots

Document Type



Wetreat the question of position and force control of athree-axis elastic robotic system on a constraint surface based onnonlinear inversion of an input-output map and linear feedback stabilization.Unlike the rigid robots, the feedback linearizing control of endpoint motion gives rise to unstable zero dynamics. Instability ofzero dynamics is avoided by controlling a parameterized output vectorcorresponding to a point close to the end point ofthe arm. Zero dynamics are stable or almost stable aslong as the parameter in the output vector does notexceed a critical value. Using the inverse controller, the controlof the force and the position of the end pointis possible while the end effector moves on the constraintsurface. However, this excites the elastic modes. For the finalcapture of the terminal state and vibration suppression, a linearstabilizer is designed. Simulation results are presented to show thatin the closed-loop system trajectory and force control on theconstraint surface is accomplished.


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