Hybrid position/force control of two cooperative flexible manipulators working in 3D space

M. Yamano; Jin Soo Kim; M. Uchiyama

doi:10.1109/ROBOT.1998.677240

Hybrid position/force control of two cooperative flexible manipulators working in 3D space

M. Yamano, Jin Soo Kim, M. Uchiyama

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

15 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1110-1115
Number of pages	6
ISBN (Print)	078034300X
DOIs	https://doi.org/10.1109/ROBOT.1998.677240
Publication status	Published - 1998 Jan 1
Event	15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium Duration: 1998 May 16 → 1998 May 20

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2
ISSN (Print)	1050-4729

Other

Other	15th IEEE International Conference on Robotics and Automation, ICRA 1998
Country	Belgium
City	Leuven
Period	98/5/16 → 98/5/20

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ROBOT.1998.677240

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Yamano, M., Kim, J. S., & Uchiyama, M. (1998). Hybrid position/force control of two cooperative flexible manipulators working in 3D space. In Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998 (pp. 1110-1115). [677240] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOT.1998.677240

Hybrid position/force control of two cooperative flexible manipulators working in 3D space. / Yamano, M.; Kim, Jin Soo; Uchiyama, M.

Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998. Institute of Electrical and Electronics Engineers Inc., 1998. p. 1110-1115 677240 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Yamano, M, Kim, JS & Uchiyama, M 1998, Hybrid position/force control of two cooperative flexible manipulators working in 3D space. in Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998., 677240, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2, Institute of Electrical and Electronics Engineers Inc., pp. 1110-1115, 15th IEEE International Conference on Robotics and Automation, ICRA 1998, Leuven, Belgium, 98/5/16. https://doi.org/10.1109/ROBOT.1998.677240

Yamano M, Kim JS, Uchiyama M. Hybrid position/force control of two cooperative flexible manipulators working in 3D space. In Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998. Institute of Electrical and Electronics Engineers Inc. 1998. p. 1110-1115. 677240. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.1998.677240

Yamano, M. ; Kim, Jin Soo ; Uchiyama, M. / Hybrid position/force control of two cooperative flexible manipulators working in 3D space. Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998. Institute of Electrical and Electronics Engineers Inc., 1998. pp. 1110-1115 (Proceedings - IEEE International Conference on Robotics and Automation).

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abstract = "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.",

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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.

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Hybrid position/force control of two cooperative flexible manipulators working in 3D space

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