Title :
Cooperative control of a two-arm flexible manipulator with redundancy
Author :
Miyabe, T. ; Konno, Atsushi ; Uchiyama, Masaru
Author_Institution :
Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan
Abstract :
This paper discusses cooperative control of a two-arm spatial flexible manipulator with redundancy. Two different approaches are discussed to solve the kinematics of this manipulator. Moreover, several performance criteria are also discussed for this system in order to obtain an optimal kinematics solution. Some of the criteria discussed are peculiar to the cooperation of the two-arm spatial flexible manipulators, and have not been described before. Finally, the criteria and kinematics solutions are evaluated with experimental implementations.
Keywords :
Jacobian matrices; control system analysis; flexible manipulators; redundant manipulators; anthropomorphic arms; augmented Jacobian; cooperative control; elbow control; gradient-projection method; manipulator kinematics; optimal kinematics solution; performance criteria; redundancy; two-arm flexible manipulator; two-arm spatial flexible manipulators; Arm; Assembly systems; Costs; International Space Station; Kinematics; Lighting control; Manipulators; Orbital robotics; Robotic assembly; Space stations;
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
DOI :
10.1109/IRDS.2002.1041679
