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In this paper, a scheme similiar to the finite element method
is proposed to model a flexible arm which tip position is
placed on a fixed plane. We first describe the reaction force
at the tip position which is related to the motor angle and the
beam deflection. That problem on this fact, the force control
problem can be transformed into a position contro problem of
the flexible arm. Further a force controller of the flexible
arm is designed by the PID control. A vision system is used to
measure the beam deflection. A set of experiments for the force
control of the flexible arm withuot using a force sensor has
been carried out. Several experimental results are showen for
demonstration.
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