Frequency-shaped implicit force control of flexible link manipulators

Joseph Borowiec, Anthony Tzes

Research output: Contribution to journalConference articlepeer-review


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.

Original languageEnglish (US)
Pages (from-to)913-918
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - 1995
EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
Duration: May 21 1995May 27 1995

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


Dive into the research topics of 'Frequency-shaped implicit force control of flexible link manipulators'. Together they form a unique fingerprint.

Cite this