Coordinated motion control of dual manipulators for handling a rigid object with non-negligible deformation

Kazuhiro Kosuge, Kentaro Kamei, Takashi Nammoto

Research output: Contribution to journalConference articlepeer-review

Abstract

In this paper, we propose a coordinated motion control algorithm of dual manipulators for handling of an almost rigid object but with non-negligible deformation. By the proposed algorithm, an almost rigid object with non-negligible deformation, such as a cardboard box, a plastic case, etc., is held and manipulated by dual manipulators stably without producing any vibrations. By defining apparent dynamics of dual manipulators for the interface force between the object and its environment and the dissipative dynamics for the internal force applied by the manipulators to the object independently, stable manipulation is achieved. Experimental results illustrate that the vibratory motion of the manipulated object caused by non-negligible deformation is eliminated by the proposed control algorithm while the apparent dynamics of the manipulated object is realized.

Original languageEnglish
Article number6907614
Pages (from-to)5145-5151
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
DOIs
Publication statusPublished - 2014 Sep 22
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 2014 May 312014 Jun 7

ASJC Scopus subject areas

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

Fingerprint Dive into the research topics of 'Coordinated motion control of dual manipulators for handling a rigid object with non-negligible deformation'. Together they form a unique fingerprint.

Cite this