DocumentCode
299908
Title
Quasi-static cooperative control of two two-link flexible manipulators
Author
Matsuno, Fumitoshi ; Hatayama, Michinori
Author_Institution
Fac. of Eng., Kobe Univ., Japan
Volume
1
fYear
1995
fDate
21-27 May 1995
Firstpage
615
Abstract
In this paper, an exact dynamic model and a control architecture are developed for the closed chain motion of two two-link flexible manipulators holding a common rigid object in a horizontal workspace. On the basis of some assumptions we derive the quasistatic equations and design the cooperative controller of two flexible manipulators. A set of experiments for the cooperative control of two flexible manipulators using a force sensor has been carried out
Keywords
control system synthesis; cooperative systems; flexible structures; manipulators; closed chain motion; control architecture; exact dynamic model; force sensor; horizontal workspace; quasi-static cooperative control design; quasistatic equations; two-link flexible manipulators; Computer architecture; Equations; Force control; Force sensors; Manipulator dynamics; Motion control; Orbital robotics; Rotors; Service robots; Systems engineering and theory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525352
Filename
525352
Link To Document