Manipulation of a sheet metal by multi-robots

Kazuhiro Kosuge; Hidehiro Yoshida; Toshio Fukuda; Kiyoshi Kanitani; Masaru Sakai

doi:10.1299/kikaic.62.3842

Manipulation of a sheet metal by multi-robots

Kazuhiro Kosuge, Hidehiro Yoshida, Toshio Fukuda, Kiyoshi Kanitani, Masaru Sakai

ENG - Robotics

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

Abstract

In this paper, we propose a control algorithm of multiple manipulators handling a flexible sheet metal, and to discuss how to deform a sheet metal and manipulate. First we derive the relation between static deformation of the sheet metal and bending and twisting moments exerted on the flexible sheet metal based on a finite-element model. We then design a control algorithm by which the deformation of the sheet metal is controlled using the internal force applied to it. Experimental results obtained from two industrial robots illustrate the validity of the proposed control system.

Original language	English
Pages (from-to)	3842-3849
Number of pages	8
Journal	Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	62
Issue number	602
DOIs	https://doi.org/10.1299/kikaic.62.3842
Publication status	Published - 1996

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

Access to Document

10.1299/kikaic.62.3842

Fingerprint Dive into the research topics of 'Manipulation of a sheet metal by multi-robots'. Together they form a unique fingerprint.

Cite this

@article{c977c8ecc8584e8ca702c0780b0e889b,

title = "Manipulation of a sheet metal by multi-robots",

abstract = "In this paper, we propose a control algorithm of multiple manipulators handling a flexible sheet metal, and to discuss how to deform a sheet metal and manipulate. First we derive the relation between static deformation of the sheet metal and bending and twisting moments exerted on the flexible sheet metal based on a finite-element model. We then design a control algorithm by which the deformation of the sheet metal is controlled using the internal force applied to it. Experimental results obtained from two industrial robots illustrate the validity of the proposed control system.",

author = "Kazuhiro Kosuge and Hidehiro Yoshida and Toshio Fukuda and Kiyoshi Kanitani and Masaru Sakai",

year = "1996",

doi = "10.1299/kikaic.62.3842",

language = "English",

volume = "62",

pages = "3842--3849",

journal = "Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C",

issn = "0387-5024",

publisher = "Japan Society of Mechanical Engineers",

number = "602",

}

TY - JOUR

T1 - Manipulation of a sheet metal by multi-robots

AU - Kosuge, Kazuhiro

AU - Yoshida, Hidehiro

AU - Fukuda, Toshio

AU - Kanitani, Kiyoshi

AU - Sakai, Masaru

PY - 1996

Y1 - 1996

N2 - In this paper, we propose a control algorithm of multiple manipulators handling a flexible sheet metal, and to discuss how to deform a sheet metal and manipulate. First we derive the relation between static deformation of the sheet metal and bending and twisting moments exerted on the flexible sheet metal based on a finite-element model. We then design a control algorithm by which the deformation of the sheet metal is controlled using the internal force applied to it. Experimental results obtained from two industrial robots illustrate the validity of the proposed control system.

AB - In this paper, we propose a control algorithm of multiple manipulators handling a flexible sheet metal, and to discuss how to deform a sheet metal and manipulate. First we derive the relation between static deformation of the sheet metal and bending and twisting moments exerted on the flexible sheet metal based on a finite-element model. We then design a control algorithm by which the deformation of the sheet metal is controlled using the internal force applied to it. Experimental results obtained from two industrial robots illustrate the validity of the proposed control system.

UR - http://www.scopus.com/inward/record.url?scp=0030264103&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0030264103&partnerID=8YFLogxK

U2 - 10.1299/kikaic.62.3842

DO - 10.1299/kikaic.62.3842

M3 - Article

AN - SCOPUS:0030264103

VL - 62

SP - 3842

EP - 3849

JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

SN - 0387-5024

IS - 602

ER -