Title :
Modeling and cooperation of two-arm robotic system manipulating a deformable object
Author :
Sun, Dong ; Shi, Xiaolun ; Liu, Yunhui
Author_Institution :
Dept. of Syst. Eng. & Eng. Manage., Chinese Univ. of Hong Kong, Shatin, Hong Kong
Abstract :
A new approach for modeling and cooperating two manipulators handling a deformable object is presented. Based on the decomposition of a deformable body into a reference component and a deformation component, a general deformable model is developed and the complex control task is divided into two subtask, i.e., the control of the reference motion and the control of the deformations. The position/force controllers and a null-space control law are proposed and demonstrated in the simulations
Keywords :
cooperative systems; force control; manipulator dynamics; motion control; position control; redundancy; complex control; cooperative systems; deformable object handling; dynamics; force control; modeling; motion control; null-space control; position control; redundancy; two-arm robotic system; Deformable models; Force control; Manipulators; Modeling; Motion control; Research and development management; Robot kinematics; Shape control; Sun; Systems engineering and theory;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506514
