Cooperative control of a two-arm flexible manipulator with redundancy

Author

Miyabe, T. ; Konno, Atsushi ; Uchiyama, Masaru

Author_Institution

Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan

Volume

3

fYear

2002

fDate

2002

Firstpage

2708

Abstract

This paper discusses cooperative control of a two-arm spatial flexible manipulator with redundancy. Two different approaches are discussed to solve the kinematics of this manipulator. Moreover, several performance criteria are also discussed for this system in order to obtain an optimal kinematics solution. Some of the criteria discussed are peculiar to the cooperation of the two-arm spatial flexible manipulators, and have not been described before. Finally, the criteria and kinematics solutions are evaluated with experimental implementations.

Keywords

Jacobian matrices; control system analysis; flexible manipulators; redundant manipulators; anthropomorphic arms; augmented Jacobian; cooperative control; elbow control; gradient-projection method; manipulator kinematics; optimal kinematics solution; performance criteria; redundancy; two-arm flexible manipulator; two-arm spatial flexible manipulators; Arm; Assembly systems; Costs; International Space Station; Kinematics; Lighting control; Manipulators; Orbital robotics; Robotic assembly; Space stations;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on

Print_ISBN

0-7803-7398-7

Type

conf

DOI

10.1109/IRDS.2002.1041679

Filename

1041679