Hybrid force and position control of a manipulator with an elastic link

Randy S Conn, University of Nevada, Las Vegas


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.