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 proceedingConference 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 languageEnglish
    Title of host publicationProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages1110-1115
    Number of pages6
    ISBN (Print)078034300X
    DOIs
    Publication statusPublished - 1998 Jan 1
    Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
    Duration: 1998 May 161998 May 20

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    Volume2
    ISSN (Print)1050-4729

    Other

    Other15th IEEE International Conference on Robotics and Automation, ICRA 1998
    CountryBelgium
    CityLeuven
    Period98/5/1698/5/20

    ASJC Scopus subject areas

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

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