Stability of control system in handling of a flexible object by rigid arm robots

T. Yukawa, M. Uchiyama, D. N. Nenchev, H. Inooka

    Research output: Contribution to journalConference article

    20 Citations (Scopus)

    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 languageEnglish
    Pages (from-to)2332-2339
    Number of pages8
    JournalProceedings - IEEE International Conference on Robotics and Automation
    Volume3
    Publication statusPublished - 1996 Jan 1
    EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
    Duration: 1996 Apr 221996 Apr 28

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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