Two-time scale shape control of flexible payloads grasped by actuated grippers

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