Frequency-shaped implicit force control of flexible link manipulators

A frequency-shaped implicit force control scheme for flexible link manipulators is considered in this article. The frequency shaping dependence is included to eliminate deleterious effects associated with control and observation spillover. The control effort is comprised of both a feedforward and feedback term. The feedback component regulates the joint coordinate error perturbations through the minimization of a linear quadratic, frequency-shaped cost functional. The feedforward component provides the torque required to compensate the underlying rigid arm dynamics along a prespecified reference trajectory. Numerical simulations are performed on a two link rigid-flexible manipulator to demonstrate the effectiveness of the proposed method.