Abstract
In this paper, we deal with the handling of a flexible object by rigid arm robots. We consider three main tasks: first, to propose a mathematical model for a variety of flexible objects of our daily life; second, to design a controller to achieve cooperative handling of the flexible object by the robots; and third, to analyze the stability and robustness of the control system. In particular, in space, it seems that demands for manipulating a large-scale structure by a space robot will be increasing. Therefore, it is important to constitute the cooperative control problem of several robots handling a flexible object, and to analyze the proposed control system.
| Original language | English |
|---|---|
| Pages (from-to) | 2332-2339 |
| Number of pages | 8 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 3 |
| Publication status | Published - 1996 Jan 1 |
| Event | Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA Duration: 1996 Apr 22 → 1996 Apr 28 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering
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Yukawa, T., Uchiyama, M., Nenchev, D. N., & Inooka, H. (1996). Stability of control system in handling of a flexible object by rigid arm robots. Proceedings - IEEE International Conference on Robotics and Automation, 3, 2332-2339.