Experiments on capturing a floating object by two flexible manipulators

Mitsuhiro Yamano, Atsushi Konno, Masaru Uchiyama

研究成果: Conference article査読

18 被引用数 (Scopus)

抄録

This paper discusses a way of capturing a floating object by two flexible manipulators. We propose a capturing procedure using hybrid position/force control and vibration suppression control. The procedure is established so that two hands reach the object simultaneously and grasp the object exerting the desired forces/moments. Two hands of the manipulators approach the object measuring the positions/orientations of the object and grasp it measuring the exerted forces/moments in the procedure. The effectiveness of the our method is shown in experiments using two 3D manipulators, each of which has two flexible links and seven joints.

本文言語English
ページ(範囲)482-487
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
1
出版ステータスPublished - 2000
外部発表はい
イベントICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
継続期間: 2000 4 242000 4 28

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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