Manipulation of sheet metal by dual manipulators based on finite element model

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

Research output: Contribution to conferencePaperpeer-review

5 Citations (Scopus)

Abstract

Control algorithms of dual manipulators handling a flexible sheet metal will be discussed in this paper. We consider two types of problems. One is the bending of a sheet metal, which is treated by two-dimensional model, and the other is the twisting of a sheet metal where three dimensional deformation should be considered. In both cases, we derive the relation between the static deformation of the sheet metal and the bending and twisting moments exerted on the flexible sheet metal based on a finite element model. The experimental results using two industrial robots will illustrate the validity of the proposed methods.

Original languageEnglish
Pages199-204
Number of pages6
Publication statusPublished - 1995 Dec 1
EventProceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2) - Orlando, FL, USA
Duration: 1995 Nov 61995 Nov 10

Other

OtherProceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2)
CityOrlando, FL, USA
Period95/11/695/11/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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