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

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

    研究成果: Conference article査読

    23 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ページ(範囲)2332-2339
    ページ数8
    ジャーナルProceedings - IEEE International Conference on Robotics and Automation
    3
    出版ステータスPublished - 1996 1月 1
    イベントProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
    継続期間: 1996 4月 221996 4月 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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