An approach toward a robust object recovery with flexible manipulators

This paper discusses an object's recovery with flexible manipulators. To realize a stable capture with no slips at the end-effectors on the object's surface, it is necessary to reduce the rise time of the internal forces. The relationship between the approach velocity and the internal forces being developed in the object during the capturing task is analyzed. Moreover, an approach to switch between the control modes is also proposed considering the resultant mechanical compliance at the tips of the arms, so that the internal forces rise rapidly. Finally, the experimental implementations illustrate the effectiveness of this approach.