Award Date

1-1-1995

Degree Type

Thesis

Degree Name

Master of Science (MS)

Department

Mechanical Engineering

Number of Pages

101

Abstract

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.

Keywords

Control; Elastic; Force; Hybrid; Link; Manipulator; Position

Controlled Subject

Mechanical engineering; Electrical engineering

File Format

pdf

File Size

3010.56 KB

Degree Grantor

University of Nevada, Las Vegas

Language

English

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Rights

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