Vibration Suppression Control of Two Cooperating Flexible Manipulators

양팔 협조 유연 매니퓰레이터의 진동억제 제어

  • 김진수 (전주대학교 기계자동차공학과)
  • Received : 2010.02.26
  • Accepted : 2010.08.04
  • Published : 2010.10.15

Abstract

For free motions, vibration suppression of single flexible manipulators has been one of the hottest research topics. However, for cooperative motions of multiple flexible manipulators, a little effort has been devoted for the vibration suppression control. So, the aim of this paper is to develop a hybrid force/position control and vibration suppression control scheme for multiple cooperation flexible manipulators handling a rigid object. In order to clarify the discussion, the motions of dual-arm experimental flexible manipulator are considered. Using the developed model, we control a robotic system with hybrid position/force control scheme. Finally, Experiments are performed, and a comparison of experimental results is given to clarify the validity of our control scheme.

Keywords

References

  1. Hayati, S., 1986, "Hybrid Position/Force Control of Multiple Arm Cooperating Robots," Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 89-92.
  2. Uchiyama, M. and Dauchez, P., 1988, "Symmetric Hybrid Position/Force Control Scheme for the Coordination of Two Robot," Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 350-356.
  3. Bonitz, R. G. and Hisa, T. C., 1996, "Internal Force-Based Impedance Control for Cooperating Manipulators," IEEE Trans. on Automatic Control, Vol. 12, No. 1, pp. 78-89.
  4. Bayo, E., 1987, "A finite-element approach to control the end-point motion of a single-link flexible robot," J. of Robotic system, Vol. 4, No. 1, pp. 63-75. https://doi.org/10.1002/rob.4620040106
  5. Uchiyama, M. and Konno, A., 1996. "Modeling of flexible manipulator dynamics based upon Holzer's Model," Proc. of the lEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 223-229.
  6. Kim, J. S. and Uchiyama, M, 2003, "Vibration Mechanism of Constrained Spatial Flexible Manipulators," Int. J. JSME, Series C, Vol. 46, No. 1, pp. 123-128. https://doi.org/10.1299/jsmec.46.123
  7. Kim, J. S., 2003, "Active Compliance Control of Constrained Flexible Manipulators" J. of KSMTE, Vol. 12, No. 1, pp. 1-7.
  8. Kim, J. S. and Uchiyama, M, 2000, "Dynamic Modeling of Two Cooperating Flexible Manipulators" Int. J. of KSME, Vol. 14, No. 2, pp. 188-196. https://doi.org/10.1007/BF03184785
  9. Uchiyama, M., Konno, A., Uchiyama, T., and Kanda, S., 1990. "Development of a flexible dual-arm manipulator tested for space robotics," Proc. of the IEEE Int. Workshop on Intelligent Robotics and Systems '90, pp. 375-381.