Dynamic modeling of two cooperating flexible manipulators

Jin Soo Kim, Masaru Uchiyama

    Research output: Contribution to journalArticlepeer-review

    3 Citations (Scopus)

    Abstract

    In this paper, our aim is to develop a model for two cooperating flexible manipulators handling a rigid object by using lumped parameters. This model is in turn analyzed on MATLAB. In order to validate the model, a precise simulation model is developed using ADAMS™(Automatic Dynamic Analysis of Mechanical System). Moreover, to clarify the discussion, the motions of a dual-arm experimental flexible manipulator are considered. Using the developed model, we control a robotic system with a symmetric hybrid position/force control scheme. Finally, experiments and simulations are performed, and a comparison of simulation results with experimental results is given to a rerify the validity of our model.

    Original languageEnglish
    Pages (from-to)188-196
    Number of pages9
    JournalKSME International Journal
    Volume14
    Issue number2
    DOIs
    Publication statusPublished - 2000 Jan 1

    Keywords

    • ADAMS™
    • Cooperative control
    • Experimental robot
    • Lumped-parameter model
    • MATLAB
    • Two flexible manipulator

    ASJC Scopus subject areas

    • Mechanical Engineering

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