Shape Control of Flexible Structures

Kashiwase, Toshio; Tabata, Masaki; Tsuchiya, Kazuo; Akishita, Sadao

doi:10.1177/1045389x9100200107

Cited by 15 publications

(8 citation statements)

References 8 publications

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“…A robust shape control of a flexible structure against parameter variation was presented in [17]. Kashiwase et al [18] proposed a simple zero P-ID controller by using many sensors and actuators. Dang et al [19] developed a shape control algorithm of a flexible structure that was used for shape morphing.…”

Section: Existing Literature On Deformable Object Modeling and Shmentioning

confidence: 99%

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Shape control of a deformable object by multiple manipulators

Das

Sarkar

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Shape control of a deformable object by a robotic system is a challenging problem because of the difficulty of imposing shape change by a finite number actuation points to an essentially infinite dimensional object. In this paper, a new approach to shape changing of deformable objects by a system of manipulators is presented. First, an integrated dynamic equation of motion for a system of multiple manipulators handling a deformable object is developed. The initial and the final shapes of the deformable object are specified by curves that represent the boundary of the object. We design an optimization-based planner that minimizes an energy-like criterion to determine the locations of the contact points on the desired curve representing the final shape of the object. The motion of each manipulator is controlled independently without any communication between them. The simulation results demonstrate the efficacy of the proposed method.

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Section: Existing Literature On Deformable Object Modeling and Shmentioning

confidence: 99%

“…Various approaches for shape control algorithm were presented in [17][18][19]. A robust shape control of a flexible structure against parameter variation was presented in [17].…”

Section: Existing Literature On Deformable Object Modeling and Shmentioning

confidence: 99%

Shape control of a deformable object by multiple manipulators

Das

Sarkar

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…The controllers in Refs. [54][55][56][57][58] are based on an exact deformation model and a model on interaction forces between the robots and the object. The work [59] investigated real-time tracking of deformation of objects using an eye-in-hand system, but did not consider the control problem.…”

Section: Manipulation Intelligencementioning

confidence: 99%

Robot Intelligence for Real World Applications

et al. 2018

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“…Here the main focus has been on vibration suppression of flexible structures; the static shape control problem and the simultaneous vibration and static shape deformation control problem have received less attention. One proposed approach to address these control problems has been to design and implement a dynamic shape controller (e.g., [6]) in which the state vector is composed of position variables describing the thin-walled structure shape and corresponding velocity variables.…”

Section: Literature Reviewmentioning

confidence: 99%

Dynamic Modelling of Flexible Payloads Manipulated by a Smart Gripper in Robotic Assembly

Park¹,

Mills²

2006

International Journal of Robotics and Automation

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During robotic assembly of flexible payloads, gravity and inertial forces acting on these payloads may induce both static shape deformation and vibration of the thin-walled payloads. Static deformations, which arise from deformation of the part due to its own weight under the influence of gravity, lead to misalignment of mating points of the part. Unwanted vibrations, arising from inertial forces acting on the part as it is positioned for assembly, must be damped out before it can be mated with other parts. This paper investigates the development of dynamic models of arbitrarily shaped flexible thin-walled payloads grasped by a smart gripper, comprised of multiple linearly actuated fingers with non-contact proximity sensors. Such an actuated gripper allows both partreshaping and active damping of unwanted vibrations of the part. Finite element modelling techniques are used to generate dynamic models of these arbitrarily shaped parts. Component mode synthesis methods are used to combine the dynamics of the actuated gripper with the dynamics of the thin-walled parts. The resultant dynamic model, developed with finite element modelling, is of high order, and hence model order reduction methods are employed to reduce the model order but retain the essential dynamics of the thinwalled payload gripper system. Using a two timescale modelling technique, an integrated closed-loop modal truncation and control design procedure is used to design a shape and vibration controller for thin-walled payload. Simulation results modelling thin-walled sheet metal parts manipulated by an industrial robot confirm the validity of the proposed modelling approach.

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Shape Control of Flexible Structures

Cited by 15 publications

References 8 publications

Shape control of a deformable object by multiple manipulators

Shape control of a deformable object by multiple manipulators

Robot Intelligence for Real World Applications

Dynamic Modelling of Flexible Payloads Manipulated by a Smart Gripper in Robotic Assembly

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