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

Author

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

Author_Institution

Dept. of Aeronautics & Space Eng., Tohoku Univ., Sendai, Japan

Volume

3

fYear

1996

fDate

22-28 Apr 1996

Firstpage

2332

Abstract

In this paper, we deal with the handling of a flexible object by rigid arm robots. We consider three main tasks: 1) to propose a mathematical model for a variety of flexible objects of our daily life; 2) to design a controller to achieve cooperative handling of the flexible object by the robots; and 3) to analyze the stability and robustness of the control system. In particular, 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

Keywords

controllability; cooperative systems; manipulator dynamics; manipulator kinematics; stability; cooperative systems; dynamics; flexible object handling; kinematics; large-scale structure; manipulators; mathematical model; rigid arm robots; space robot; stability; Control system analysis; Control system synthesis; Control systems; Large-scale systems; Mathematical model; Orbital robotics; Robots; Robust control; Robust stability; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.506512

Filename

506512