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.
|出版ステータス||Published - 1995 12月 1|
|イベント||Proceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2) - Orlando, FL, USA|
継続期間: 1995 11月 6 → 1995 11月 10
|Other||Proceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2)|
|City||Orlando, FL, USA|
|Period||95/11/6 → 95/11/10|
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