English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

Industrial robots are expected to be used in circumstances where they can be directly touched by humans like the welfare robot which assists the elderly in the society. Considering the nature of this application in terms of safety, the control of the contact force becomes a requirement along with the conventional control of position. In this article, simulation of the contact force control of a flexible manipulator to investigate the influence of shear deformation and rotational inertia, which varies depending on the sectional shape of a beam, on the result between the Bernoulli-Euler beam theory and Timoshenko beam theory. Comparisons are presented without considering shear deformation and rotational inertia and considering its effectiveness.

Comparison of Simulation of Contact Force Control of Flexible Manipulator Using Bernoulli-Euler theory and Timoshenko theory