Robust cooperative control of two two-link flexible manipulators on the basis of quasi-static equations
- Tokyo Inst. of Tech., Midori, Yokohama (Japan). Dept. of Computational Intelligence and Systems Science
In this paper, a dynamic model of a distributed parameter system and a control architecture are developed for the closed-chain motion of two two-link flexible manipulators holding a common rigid object in a horizontal workspace. The authors derive the dynamic relation of deformation of the flexible links, constraint force, and rigid-object dynamics. Use of the quasi-static relation of the deformation, the constraint force, and the rigid-object dynamics gives quasi-static equations of joint angles which are not dependent on the variables related to the deformations of the flexible links. The authors design a robust cooperative controller of the two flexible manipulators considering measurement disturbances and modeling errors caused by the link-parameter uncertainty and the quasi-static approximation. A set of experiments for the cooperative control of the two flexible manipulators using a force sensor has been carried out. Several experimental results are shown.
- OSTI ID:
- 352470
- Journal Information:
- International Journal of Robotics Research, Vol. 18, Issue 4; Other Information: PBD: Apr 1999
- Country of Publication:
- United States
- Language:
- English
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