Handling of a constrained flexible object by a robot

T. Yukawa, M. Uchiyama, H. Inooka

    Research output: Contribution to journalConference article

    12 Citations (Scopus)

    Abstract

    In this paper, we deal with the handling of a constrained flexible object by a robot. We regard the robot as rigid manipulator and the object as its one side being free and the other side fixed in the wall. Our purpose is, for robot, to follow up the open end of the flexible object and to suppress its vibration. As a technique to achieve our purpose, we propose a new numerical modeling to handle the object by the robot. This model reveals the force relationship in the handling point. Next, we constitute the control system to make possible achieve two performances, following up the object and vibration suppression.

    Original languageEnglish
    Pages (from-to)324-329
    Number of pages6
    JournalProceedings - IEEE International Conference on Robotics and Automation
    Volume1
    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

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