Cooperative Control of a 3D Dual-Flexible-Arm Robot

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

doi:10.1023/b:jint.0000010794.37580.3a

Cited by 45 publications

(16 citation statements)

References 12 publications

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“…The corresponding error can then be regarded as a measure of pushing/pulling forces, [70]. Hybrid force/position has been also combined with vibration suspension control in order to control a dualflexible arm system manipulating a rigid object, [71]. Moreover, hybrid control has been utilized for underactuated cooperative manipulators -in which case recalculation of the dynamic load-carrying capacity is proposed in order to verify the ability of the manipulator to execute the cooperative task [72].…”

Section: Controlmentioning

confidence: 99%

Dual arm manipulation—A survey

Smith

Karayiannidis

Nalpantidis

et al. 2012

Robotics and Autonomous Systems

455

208

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Recent advances in both anthropomorphic robots and bimanual industrial manipulators had led to an increased interest in the specific problems pertaining to dual arm manipulation. For the future, we foresee robots performing humanlike tasks in both domestic and industrial settings. It is therefore natural to study specifics of dual arm manipulation in humans and methods for using the resulting knowledge in robot control. The related scientific problems range from low-level control to high level task planning and execution. This review aims to summarize the current state of the art from the heterogenous range of fields that study the different aspects of these problems specifically in dual arm manipulation.

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Section: Controlmentioning

confidence: 99%

Dual arm manipulation—A survey

Smith

Karayiannidis

Nalpantidis

et al. 2012

Robotics and Autonomous Systems

455

208

View full text Add to dashboard Cite

show abstract

“…[106] developed a closed-chain dynamical model for a dual-arm system. More recent developments in this subject include [107] where a cooperative control scheme for a dual-arm system capable of transporting rigid objects was described. The proposed control scheme integrated force and position control as well as vibration minimization.…”

Section: Dual-arm Manipulationmentioning

confidence: 99%

Manipulation and Control

Fernández

Allouis

Seweryn

et al. 2016

Contemporary Planetary Robotics

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“…Joint force elements are chosen in each new prismatic joint to map the bending stiffness of the platform. This method is generally called lumped-mass approach [13]. In the The vibration model is modeled in state-space under the precondition that all stiffness elements in all five prismatic joint elements should hold the same parameter value.…”

Section: Effects Due To Platform Elasticitymentioning

confidence: 99%

On the effect of structural elasticity on the stability and performance of parallel manipulators

Wahle

Corves

2013

2013 IEEE International Conference on Robotics and Automation

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This work deals with the control design and control simulation for a parallel structure with reduced degrees of freedom. Firstly, a novel coupled PD-control algorithm which yields uniform eigenfrequencies and properties in all directions of motion is introduced. The results of the linear model are compared to automated MBS-simulations. Afterwards, the stability range is compared to the actual measured stability range which is much smaller. Elasticity effects due to the platform and the joint stiffness are implemented in the MBS-model and evaluated. In the last step, we compare the simulated stability regions of the updated MBS-models to the measured boundaries.

show abstract

Cooperative Control of a 3D Dual-Flexible-Arm Robot

Cited by 45 publications

References 12 publications

Dual arm manipulation—A survey

Dual arm manipulation—A survey

Manipulation and Control

On the effect of structural elasticity on the stability and performance of parallel manipulators

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