Position and force control of two crs a460 robots manipulating a flexible sheet: Theory and experiment

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 120, Issue 4, 1998, Pages 529-533

  Sun, Dong ^a   Mills, James K ^a  

^a UNIVERSITY OF TORONTO   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

ALUMINUM SHEET; DEFORMATION; FEEDBACK CONTROL; FORCE CONTROL; INDUSTRIAL ROBOTS; MOTION CONTROL; POSITION CONTROL; PROPORTIONAL CONTROL SYSTEMS;

FEEDFORWARD CONTROL; PROPORTIONAL DERIVATIVE (PD) CONTROL;

MANIPULATORS;

EID: 0032297422     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.2801497     Document Type: Article

References (7)

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2. Dellinger W. F., and Anderson J. N., 1992, “Interactive Force Dynamics of Two Robotic Manipulators Grasping a Non-Rigid Object,” Proc. IEEE Int. Conf on Robotics and Automation, pp. 2205-2210.
3. Kosuge K., Sakai M., and Kanitani K., 1995, “Manipulation of a Flexible Object by Dual Manipulators,” Proc. IEEE Int. Conf on Robotics and Automation, pp. 318-323.
4. Mills J. K., 1992, “Multi-Manipulator Control for Fixtureless Assembly of Elastically Deformable Parts,” Proc. Japan-USA Symposium on Flexible Automation, pp. 1565-1572.
5. Sun D., and Liu Y. H., 1997, “Modeling and Impedance Control of a Two-Manipulator System Handling a Flexible Beam,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 119, No. 4, pp. 736-742.
6. Yukawa T., Uchiyama M., Nenchev D., and Inooka H., 1996, “Stability of Control System in Handling of a Flexible Object by Rigid Arm Robots,” Proc. IEEE Int. Conf on Robotics and Automation, pp. 2332-2339.
7. Zheng Y. F., Pei R., and Chen, M. Z., 1991, “Strategies for Automatic Assembly of Deformable Objects,” Proc. IEEE Int. Conf. On Robotics and Automation, pp. 2708-2715.