Internal force-based impedance control of dual-arm manipulation of flexible objects

Author

AlYahmadi, Amer S. ; Hsia, T.C.

Author_Institution

Dept. of Mech. & Aero. Eng., California Univ., Davis, CA, USA

Volume

4

fYear

2000

fDate

2000

Firstpage

3296

Abstract

This paper presents a simple and computationally efficient scheme for handling a flexible object by two coordinated manipulators. The simulation results for a dual three joints robotic arm system manipulating an object with a single degree of flexible freedom illustrate the ability of the proposed scheme to deform the object to reach a desired shape, and transport the deformed object along a given trajectory. The simulation results also show that it is possible to perform an assembly task, in which the control of contact forces between the object and the fixture is essential to guarantee the success of the assembly

Keywords

computational complexity; flexible structures; manipulators; multi-robot systems; assembly; computationally efficient scheme; contact force control; coordinated manipulators; dual three joints robotic arm system; dual-arm manipulation; flexible 1-DOF objects; internal force-based impedance control; object deformation; Aerospace industry; Algorithm design and analysis; Arm; Defense industry; Force control; Impedance; Industrial control; Metals industry; Robot kinematics; Robotic assembly;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.845171

Filename

845171