Position and Force Control of Two CRS A460 Robots Manipulating a Flexible Sheet: Theory and Experiment-Reference-Cited by-同舟云学术

Position and Force Control of Two CRS A460 Robots Manipulating a Flexible Sheet: Theory and Experiment

Published:1998-12-01 Issue:4 Volume:120 Page:529-533
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Sun Dong¹,Mills James K.¹

Affiliation:

1. Laboratory for Nonlinear Systems Control, Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario, Canada, M5S 3G8

Abstract

It is verified in theory and experiment that through proper design of the control gains, the simple PD position feedback can control a flexible sheet manipulated by two industrial robots to a desired position while regulating its deformations at the contacts to zero. The offsets of all static deformations of the sheet with reference to the original positions decay to zero. A hybrid controller is further developed to control the motion of the sheet as well as its interactions with the manipulators by adding a force feedforward term to the PD scheme. This is the first time that conventional PD control has been shown to be applicable for use in the manipulation of flexible payload.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/120/4/529/5618525/529_1.pdf

Reference7 articles.

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2. Dellinger W. F., and Anderson J. N., 1992, “Interactive Force Dynamics of Two Robotic Manipulators Grasping a Non-Rigid Object,” Proc. IEEE Int. Conf. on Robotics and Automation, pp. 2205–2210.

3. Kosuge K., Sakai M., and Kanitani K., 1995, “Manipulation of a Flexible Object by Dual Manipulators,” Proc. IEEE Int. Conf. on Robotics and Automation, pp. 318–323.

4. Mills J. K., 1992, “Multi-Manipulator Control for Fixtureless Assembly of Elastically Deformable Parts,” Proc. Japan-USA Symposium on Flexible Automation, pp. 1565–1572.

5. Sun D. , and LiuY. H., 1997, “Modeling and Impedance Control of a Two-Manipulator System Handling a Flexible Beam,” ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL, Vol. 119, No. 4, pp. 736–742.

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