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
N1 - Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
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.
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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 -