Cooperative control of a vibrating flexible object by a rigid dual-arm robot

T. Yukawa, M. Uchiyama, H. Inooka

    Research output: Contribution to journalConference articlepeer-review

    8 Citations (Scopus)

    Abstract

    In this paper, we deal with the handling of a vibrating flexible object by a rigid dual-arm robot. Each arm consists of two links and an end-effector. The aim of this work is to realize position control of the flexible object while suppressing its vibration. In particular, the problem taken up here is about the control system design to realize the active handling of the flexible object. For this purpose, we propose a model for both robot and the object in the connected position so as to guarantee the whole handling system's stability. We also express a new mathematical modeling of the flexible object using model reduction theory in the same connected position. The model while the robot and the object are in contact, is derived by the positional requirements at the handling point. Next, we consider the design of controller to satisfy the constraint condition at the static equilibrium point. Designing of the combined system consisting of the robot and the object is useful for the analysis of whole handling system's stability.

    Original languageEnglish
    Pages (from-to)1820-1826
    Number of pages7
    JournalProceedings - IEEE International Conference on Robotics and Automation
    Volume2
    Publication statusPublished - 1995 Jan 1
    EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
    Duration: 1995 May 211995 May 27

    ASJC Scopus subject areas

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

    Fingerprint Dive into the research topics of 'Cooperative control of a vibrating flexible object by a rigid dual-arm robot'. Together they form a unique fingerprint.

    Cite this