Cooperative control of a 3D dual-flexible-arm robot

Mitsuhiro Yamano, Jin Soo Kim, Atsushi Konno, Masaru Uchiyama

Research output: Contribution to journalArticlepeer-review

43 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)1-15
Number of pages15
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number1
Publication statusPublished - 2004 Jan
Externally publishedYes


  • Cooperative control
  • Dual-flexible-arm robot
  • Internal force
  • Lumped-parameter model
  • Task vector
  • Vibration control

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering
  • Artificial Intelligence


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