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Vibration Suppression Control of Two Cooperating Flexible Manipulators  

Kim, Jin-Soo (전주대학교 기계자동차공학과)
Publication Information
Journal of the Korean Society of Manufacturing Technology Engineers / v.19, no.5, 2010 , pp. 645-652 More about this Journal
Abstract
For free motions, vibration suppression of single flexible manipulators has been one of the hottest research topics. However, for cooperative motions of multiple flexible manipulators, a little effort has been devoted for the vibration suppression control. So, the aim of this paper is to develop a hybrid force/position control and vibration suppression control scheme for multiple cooperation flexible manipulators handling a rigid object. In order to clarify the discussion, the motions of dual-arm experimental flexible manipulator are considered. Using the developed model, we control a robotic system with hybrid position/force control scheme. Finally, Experiments are performed, and a comparison of experimental results is given to clarify the validity of our control scheme.
Keywords
Cooperative control; Multiple flexible manipulator; Hybrid position/force contro; Vibration suppression control; Rigid object;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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