Position/Force Control of a Flexible Robotic Structure using Generalized Predictive Control (GPC)
- Hernández, J. 1
- Camblong, H. 2
- Nicolás, C. F. 1
- Landaluze, J. 1
- Reyero, R. 1
- 1 IKERLAN Technological Research Center, Control Engineering Department
- 2 ENSIEG, 38402 Saint Martin d'Heres, France
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
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.