Position/Force Control of a Flexible Robotic Structure using Generalized Predictive Control (GPC)

  1. Hernández, J. 1
  2. Camblong, H. 2
  3. Nicolás, C. F. 1
  4. Landaluze, J. 1
  5. Reyero, R. 1
  1. 1 IKERLAN Technological Research Center, Control Engineering Department
  2. 2 ENSIEG, 38402 Saint Martin d'Heres, France
Actas:
IFAC Proceedings Volumes

Editorial: Elsevier

ISSN: 1474-6670

Año de publicación: 1997

Páginas: 561-568

Congreso: SYROCO '97: 5th IFAC Symposium on Robot Control, 1997, Nantes, France, 3-5 September

Tipo: Aportación congreso

DOI: 10.1016/S1474-6670(17)44318-7 GOOGLE SCHOLAR lock_openAcceso abierto editor

Resumen

This paper presents some results achieved in the position/force control of aflexible robotic structure in both free and constrained movements. The control has beendeveloped using Generalized Predictive Control (GPC) with a partial state reference model.After describing the flexible structure and a brief introduction to GPC, the paper deals withthe controller design for both position and force tasks. Some simulation results arepresented and discussed. A hybrid position/force control scheme was chosen for theconstrained position/force tasks. The supervisor in charge of choosing the adequate controlstrategy is described before presenting some results obtained in the experimental trials.