DocumentCode :
1869130
Title :
Two-time scale shape control of flexible payloads grasped by actuated grippers
Author :
Park, Edward J. ; Kang, Bongsoo ; Mills, James K.
Author_Institution :
Toronto Univ., Ont., Canada
Volume :
3
fYear :
2002
fDate :
2002
Firstpage :
2449
Lastpage :
2454
Abstract :
This paper presents a theoretical framework to simultaneously control both static shape deformation and vibration of a flexible payload grasped by an actuated robotic gripper. The dynamic model of the actuated flexible payload is derived using the component mode synthesis (CMS) method with addition of quasi-static modes. Then, the dynamic component model is used to synthesize a simultaneous static shape and vibration controller. Two-time scale control scheme is pursued taking advantage of the two-time scale behavior between the quasi-static modes and vibration modes, which are employed in the model. Simulation results demonstrate the effectiveness of the proposed control approach to simultaneously correct static deformation and suppress vibration in the payload
Keywords :
manipulator dynamics; shape control; component mode synthesis; dynamic model; flexible payload; robotic gripper; robotic manipulation; shape control; shape deformation; vibration; Automotive engineering; Collision mitigation; Grippers; Payloads; Robot sensing systems; Robotic assembly; Service robots; Shape control; Vehicle dynamics; Vibration control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
Type :
conf
DOI :
10.1109/ROBOT.2002.1013599
Filename :
1013599
Link To Document :
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