Realization of a quick and stable capturing task with a two-arm flexible manipulator

Tomohiro Miyabe, Mitsuhiro Yamano, Atsushi Konno, Masaru Uchiyama

    Research output: Contribution to journalArticlepeer-review


    This paper discusses an object capturing task with a two arm flexible manipulator. To realize a stable capture with no slips at the end-effectors on the object surface, the internal force being developed in the object needs to rise quickly. For this purpose, the relationship between the end effectors' approach velocities to the object and the internal force during the capture is analyzed with a simple mass-damper-spring model for the two arm manipulator and the object system. Furthermore, a method for changing the control modes is proposed considering the resultant mechanical compliances at the tips of the arms so that the rise time of the internal force is reduced. The effectiveness of this method is verified with experiments.

    Original languageEnglish
    Pages (from-to)2374-2379
    Number of pages6
    JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
    Issue number8
    Publication statusPublished - 2002 Aug


    • Capturing Task
    • Cooperative Control
    • Dual Arm
    • Flexible Structure
    • Manipulator
    • Mechanical Compliance
    • Robot

    ASJC Scopus subject areas

    • Mechanics of Materials
    • Mechanical Engineering
    • Industrial and Manufacturing Engineering


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