### Force Control of Link Systems Using the Parallel Solution Scheme

Abstract

In this paper, force control of link systems considering dynamical effects
is carried out by using the parallel solution scheme, which was previously
proposed and successfully applied to inverse dynamics calculations of flexible
manipulators. Generally, inverse dynamics is calculated by using dynamic
equations, and control torque for generated forces is calculated by using
Jacobian matrices derived from kinematic equations. Two different sets
of torque are summed in such cases. On the other hand, the parallel solution
scheme calculates both types of torque in a single procedure, without using
Jacobian matrices. The calculation is enabled by solving the equation of
motion in the dimension of force, and by formulating the relationship between
the calculated forces and joint torque in a matrix form, separated into
terms of different parameters. Generated forces for the control can be
considered simply by adding the values into one of the components in the
equation, which is used for calculating inverse dynamics. The validity
of the scheme is verified, in this paper, by carrying out a force control
experiment on a simple link system where both generated forces and dynamical
effects should be considered.

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