Title :
Hybrid position/force control of two cooperative flexible manipulators working in 3D space
Author :
Yamano, Mitsuhiro ; Kim, Jin-Soo ; Uchiyama, Masaru
Author_Institution :
Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan
Abstract :
In this paper, we discuss the control scheme on cooperative control of two flexible manipulators handling a rigid object in 3D space. We propose a control scheme which consists of hybrid position/force control and vibration suppression control. Hybrid position/force control is extended from that for two cooperative rigid manipulators to that for flexible ones. In addition to the control, vibration suppression control based upon the dynamics of both the flexible manipulators and the object is applied. To illustrate the validity of the proposed control scheme, we show experimental results
Keywords :
cooperative systems; flexible structures; force control; manipulator dynamics; position control; vibration control; cooperative flexible manipulators; hybrid position/force control; vibration suppression control; Aerodynamics; Arm; Equations; Force control; Kinematics; Manipulator dynamics; Rockets; Space shuttles; Space technology; Vibration control;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677240
