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

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.