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| Content Provider | Springer Nature Link |
|---|---|
| Author | Yama, Mitsuhiro Kim, Jin Soo Kon, Atsushi Uchiyama, Masaru |
| Copyright Year | 2004 |
| Abstract | This paper discusses cooperative control of a dual-flexible-arm robot to handle a rigid object in three-dimensional space. The proposed control scheme integrates hybrid position/force control and vibration suppression control. To derive the control scheme, kinematics and dynamics of the robot when it forms a closed kinematic chain is discussed. Kinematics is described using workspace force, velocity and position vectors, and hybrid position/force control is extended from that on dual-rigid-arm robots. Dynamics is derived from constraint conditions and the lumped-mass-spring model of the flexible robots and an object. The vibration suppression control is calculated from the deflections of the flexible links and the dynamics. Experiments on cooperative control are performed. The absolute positions/orientations and internal forces/moments are controlled using the robot, each arm of which has two flexible links, seven joints and a force/torque sensor. The results illustrate that the robot handled the rigid object damping links' vibration successfully in three-dimensional space. |
| Starting Page | 1 |
| Ending Page | 15 |
| Page Count | 15 |
| File Format | |
| ISSN | 09210296 |
| Journal | Journal of Intelligent & Robotic Systems |
| Volume Number | 39 |
| Issue Number | 1 |
| e-ISSN | 15730409 |
| Language | English |
| Publisher | Kluwer Academic Publishers |
| Publisher Date | 2004-01-01 |
| Publisher Place | Dordrecht |
| Access Restriction | Subscribed |
| Subject Keyword | Artificial Intelligence (incl. Robotics) Mechanical Engineering Automation and Robotics Electronic and Computer Engineering |
| Content Type | Text |
| Resource Type | Article |
| Subject | Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software |
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