Experiments on capturing a floating object by two flexible manipulators

Mitsuhiro Yamano, Atsushi Konno, Masaru Uchiyama

Research output: Contribution to journalConference articlepeer-review

17 Citations (Scopus)

Abstract

This paper discusses a way of capturing a floating object by two flexible manipulators. We propose a capturing procedure using hybrid position/force control and vibration suppression control. The procedure is established so that two hands reach the object simultaneously and grasp the object exerting the desired forces/moments. Two hands of the manipulators approach the object measuring the positions/orientations of the object and grasp it measuring the exerted forces/moments in the procedure. The effectiveness of the our method is shown in experiments using two 3D manipulators, each of which has two flexible links and seven joints.

Original languageEnglish
Pages (from-to)482-487
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
Publication statusPublished - 2000
Externally publishedYes
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: 2000 Apr 242000 Apr 28

ASJC Scopus subject areas

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

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