Boundary Force Control of Two one-link Flexible Manipulator to Accomplish Safe Grasping Task

This paper considered the grasping force control problem for the cooperative flexible arms. Our control strategies are to suppress the unwanted vibration of links and control the contact force between end-effector and object to achieving desired force simultaneously. For this purpose, firstly, we derived the hybrid PDE-ODE dynamic of the system and then designed a model-based boundary control to accomplish control goals. Also, to reduce the stability complexity in the previous works, we used the direct Lyapunov and energy multiplier methods to prove the closed-loop system's stability. With the introduced control law and Lyapunov functional, the uniform ultimately boundedness of the system's states are guaranteed. Finally, the proposed controller's control performance is examined by a numerical example and by examining the robustness of the controller in the presence of disturbance; besides comparing with PD control, the efficiency and excellent performance of the proposed control is investigated.

Keywords:

Distributed parameter system , Force control , Vibration control , Flexible structure