TY - GEN
T1 - Hybrid position/force control of two cooperative flexible manipulators working in 3D space
AU - Yamano, M.
AU - Kim, Jin Soo
AU - Uchiyama, M.
PY - 1998/1/1
Y1 - 1998/1/1
N2 - In this paper, we discuss the control scheme on cooperative control of two flexible manipulators handling a rigid object in 3D space. We propose a control scheme which consists of hybrid position/force control and vibration suppression control. Hybrid position/force control is extended from that for two cooperative rigid manipulators to that for flexible ones. In addition to the control, vibration suppression control based upon the dynamics of both the flexible manipulators and the object is applied. To illustrate the validity of the proposed control scheme, we show experimental results.
AB - In this paper, we discuss the control scheme on cooperative control of two flexible manipulators handling a rigid object in 3D space. We propose a control scheme which consists of hybrid position/force control and vibration suppression control. Hybrid position/force control is extended from that for two cooperative rigid manipulators to that for flexible ones. In addition to the control, vibration suppression control based upon the dynamics of both the flexible manipulators and the object is applied. To illustrate the validity of the proposed control scheme, we show experimental results.
UR - http://www.scopus.com/inward/record.url?scp=0031620291&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0031620291&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.1998.677240
DO - 10.1109/ROBOT.1998.677240
M3 - Conference contribution
AN - SCOPUS:0031620291
SN - 078034300X
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1110
EP - 1115
BT - Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Conference on Robotics and Automation, ICRA 1998
Y2 - 16 May 1998 through 20 May 1998
ER -