Hybrid position/force control of two cooperative flexible manipulators working in 3D space

In this paper, we discuss the control scheme on cooperative control of two flexible manipulators handling a rigid object in 3D space. We propose a control scheme which consists of hybrid position/force control and vibration suppression control. Hybrid position/force control is extended from that for two cooperative rigid manipulators to that for flexible ones. In addition to the control, vibration suppression control based upon the dynamics of both the flexible manipulators and the object is applied. To illustrate the validity of the proposed control scheme, we show experimental results.

[1]  浩 下嶋,et al.  速度制御形DCモータを用いた双腕フレキシブルマニピュレータの位置と力の制御 : 第1報,自由空間中の協調制御 , 1995 .

[2]  内山 勝 Vibration suppression control of constrained spatial flexible manipulators , 1997 .

[3]  Kazuhiro Kosuge,et al.  Unified control for dynamic cooperative manipulation , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[4]  B. C. Chiou,et al.  Dynamic Stability Analysis of a Two-Link Force-Controlled Flexible Manipulator , 1990 .

[5]  Atsushi Konno,et al.  Modeling of a flexible manipulator dynamics based upon Holzer's model , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[6]  E. Nakano,et al.  Cooperational Control of the Anthropomorphous Manipulator "MELARM" , 1974 .

[7]  Masaru Uchiyama,et al.  A symmetric hybrid position/force control scheme for the coordination of two robots , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[8]  内山 勝 Force control of constrained flexible manipulators , 1996 .

[9]  Atsushi Konno,et al.  Vibration controllability of flexible manipulators , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[10]  Jin-Soo Kim,et al.  Lumped-Parameter Modeling for Cooperative Control of Two Flexible Manipulators , 1997 .

[11]  Atsushi Konno,et al.  Development of a flexible dual-arm manipulator testbed for space robotics , 1990, EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications.

[12]  M. Uchiyama,et al.  Contribution to Inverse Kinematics of Flexible Robot Arms , 1994 .

[13]  M. Uchiyama,et al.  Computed acceleration control for the vibration suppression of flexible robotic manipulators , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[14]  Fumitoshi Matsuno,et al.  Modeling and quasi-static hybrid position/force control of constrained planar two-link flexible manipulators , 1994, IEEE Trans. Robotics Autom..

[15]  Jin-Soo Kim,et al.  Experiments on Cooperative Control of Two Flexible Manipulators Working in 3D Space , 1997 .

[16]  Fumitoshi Matsuno,et al.  Quasi-static cooperative control of two two-link flexible manipulators , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[17]  T.C. Hsia,et al.  Force decomposition in cooperating manipulators using the theory of metric spaces and generalized inverses , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.