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

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Abstract

This paper discusses cooperative control of a dual-flexible-arm robot to handle a rigid object in three-dimensional space. The proposed control scheme integrates hybrid position/force control and vibration suppression control. To derive the control scheme, kinematics and dynamics of the robot when it forms a closed kinematic chain is discussed. Kinematics is described using workspace force, velocity and position vectors, and hybrid position/force control is extended from that on dual-rigid-arm robots. Dynamics is derived from constraint conditions and the lumped-mass-spring model of the flexible robots and an object. The vibration suppression control is calculated from the deflections of the flexible links and the dynamics. Experiments on cooperative control are performed. The absolute positions/orientations and internal forces/moments are controlled using the robot, each arm of which has two flexible links, seven joints and a force/torque sensor. The results illustrate that the robot handled the rigid object damping links' vibration successfully in three-dimensional space.

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Authors and Affiliations

  1. Department of Mechanical Systems Engineering, Yamagata University, Jonan 4-3-16, Yonezawa, 992-8510, Japan

    Mitsuhiro Yamano

  2. Guidance and Control Department, Space Technology Research and Development Division, Korea Aerospace Research Institute, 52, Oun-dong, Yusung-gu, Taejon, 305-333, Korea

    Jin-Soo Kim

  3. Department of Aeronautics and Space Engineering, Tohoku University, Aoba-yama 01, Sendai, 980-8579, Japan

    Atsushi Konno & Masaru Uchiyama

Authors
  1. Mitsuhiro Yamano
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  2. Jin-Soo Kim
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  3. Atsushi Konno
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  4. Masaru Uchiyama
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Yamano, M., Kim, JS., Konno, A. et al. Cooperative Control of a 3D Dual-Flexible-Arm Robot. Journal of Intelligent and Robotic Systems 39, 1–15 (2004). https://doi.org/10.1023/B:JINT.0000010794.37580.3a

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  • DOI: https://doi.org/10.1023/B:JINT.0000010794.37580.3a

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