TY - GEN
T1 - Coordinated motion control of dual manipulators for handling a rigid object with non-negligible deformation
AU - Kosuge, Kazuhiro
AU - Kamei, Kentaro
AU - Nammoto, Takashi
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - In this paper, we propose a coordinated motion control algorithm of dual manipulators for handling of an almost rigid object but with non-negligible deformation. By the proposed algorithm, an almost rigid object with non-negligible deformation, such as a cardboard box, a plastic case, etc., is held and manipulated by dual manipulators stably without producing any vibrations. By defining apparent dynamics of dual manipulators for the interface force between the object and its environment and the dissipative dynamics for the internal force applied by the manipulators to the object independently, stable manipulation is achieved. Experimental results illustrate that the vibratory motion of the manipulated object caused by non-negligible deformation is eliminated by the proposed control algorithm while the apparent dynamics of the manipulated object is realized.
AB - In this paper, we propose a coordinated motion control algorithm of dual manipulators for handling of an almost rigid object but with non-negligible deformation. By the proposed algorithm, an almost rigid object with non-negligible deformation, such as a cardboard box, a plastic case, etc., is held and manipulated by dual manipulators stably without producing any vibrations. By defining apparent dynamics of dual manipulators for the interface force between the object and its environment and the dissipative dynamics for the internal force applied by the manipulators to the object independently, stable manipulation is achieved. Experimental results illustrate that the vibratory motion of the manipulated object caused by non-negligible deformation is eliminated by the proposed control algorithm while the apparent dynamics of the manipulated object is realized.
UR - http://www.scopus.com/inward/record.url?scp=84929191730&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929191730&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907614
DO - 10.1109/ICRA.2014.6907614
M3 - Conference contribution
AN - SCOPUS:84929191730
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5145
EP - 5151
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -