Feedforward and State-Feedback Force-Position Control of a Robotic Platform Devoted to Precise Co-manipulation

This study deals with the precise co-manipulation of flexible object using a dual 1-dof robotic platform with nonlinear actuation. First, a mechanical model that considers the flexible object deformation with two robots nonlinearities is proposed. Then a feedforward-feedback control scheme is given to compensate for the nonlinearities and to stabilize the dynamics. Finally, simulation results with analysis are carried out to demonstrate the efficiency of the designed controllers.