Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Cooperative Control of Two Spatial Flexible Manipulators -Verification by Experiments-

3차원 양팔 유연 매니퓨레이터의 협조제어 (실험에 의한 검증)

  • Published : 2000.09.01
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Abstract

In this paper we discuss the control scheme on cooperative control of two flexible manipulators working 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 the scheme for two cooperating rigid manipulators to that for flexible ones. in addition to the control vibration suppression control based upon a lumped-mass-spring model of the flexible manipulators is applied. To illustrate the validity of the proposed control scheme we show experimental results. in the experiment a rigid object is handled by two cooperating flexible manipulators in 3D space.

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References

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