Cooperative control of a two-arm flexible manipulator with redundancy

Tomohiro Miyabe, Atsushi Konno, Masaru Uchiyama

    Research output: Contribution to conferencePaper

    3 Citations (Scopus)

    Abstract

    This paper discusses a cooperative control of a two-arm spatial flexible manipulator with redundancy. Two different approaches are discussed to solve the kinematics of this manipulator. Moreover, several performance criteria are also discussed for this system in order to get the optimal kinematics solution. Some of the criteria discussed are peculiar to the cooperation of the two-arm spatial flexible manipulators, and they have not been discussed so far. Finally, the criteria and kinematics solutions are evaluated with the experimental implementations.

    Original languageEnglish
    Pages2708-2713
    Number of pages6
    Publication statusPublished - 2002 Jan 1
    Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
    Duration: 2002 Sep 302002 Oct 4

    Other

    Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
    CountrySwitzerland
    CityLausanne
    Period02/9/3002/10/4

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

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  • Cite this

    Miyabe, T., Konno, A., & Uchiyama, M. (2002). Cooperative control of a two-arm flexible manipulator with redundancy. 2708-2713. Paper presented at 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland.