Title :
Quasi-static cooperative control of two two-link flexible manipulators
Author :
Matsuno, Fumitoshi ; Hatayama, Michinori
Author_Institution :
Fac. of Eng., Kobe Univ., Japan
Abstract :
In this paper, an exact dynamic model and a control architecture are developed for the closed chain motion of two two-link flexible manipulators holding a common rigid object in a horizontal workspace. On the basis of some assumptions we derive the quasistatic equations and design the cooperative controller of two flexible manipulators. A set of experiments for the cooperative control of two flexible manipulators using a force sensor has been carried out
Keywords :
control system synthesis; cooperative systems; flexible structures; manipulators; closed chain motion; control architecture; exact dynamic model; force sensor; horizontal workspace; quasi-static cooperative control design; quasistatic equations; two-link flexible manipulators; Computer architecture; Equations; Force control; Force sensors; Manipulator dynamics; Motion control; Orbital robotics; Rotors; Service robots; Systems engineering and theory;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525352
