TY - JOUR
T1 - Hybrid position and force control of two industrial robots manipulating a flexible sheet
T2 - Proceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4)
AU - Sun, Dong
AU - Mills, James K.
AU - Liu, Yunhui
PY - 1998
Y1 - 1998
N2 - It is verified in this paper that the widely used scheme of PD plus a force control is also suitable for controlling a flexible system of two industrial robots manipulating a flexible sheet. It is proven by LaSalle's theorem that under the proposed control law, the desired rigid body motion can be achieved and simultaneously the vibrations of the sheet at each contact are suppressed. The offsets of all static deformations of the sheet with reference to the original positions decay to zero. The internal forces between the payload and the robots are well controlled to avoid any damage to the system. The investigation is based on the decomposition of the payload dynamics into two distinct dynamic subsystems, using a `clamped-free' model. Experiments of two CRS A460 robots manipulating a flexible aluminum sheet confirm these theoretical predictions.
AB - It is verified in this paper that the widely used scheme of PD plus a force control is also suitable for controlling a flexible system of two industrial robots manipulating a flexible sheet. It is proven by LaSalle's theorem that under the proposed control law, the desired rigid body motion can be achieved and simultaneously the vibrations of the sheet at each contact are suppressed. The offsets of all static deformations of the sheet with reference to the original positions decay to zero. The internal forces between the payload and the robots are well controlled to avoid any damage to the system. The investigation is based on the decomposition of the payload dynamics into two distinct dynamic subsystems, using a `clamped-free' model. Experiments of two CRS A460 robots manipulating a flexible aluminum sheet confirm these theoretical predictions.
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U2 - 10.1109/ROBOT.1998.677434
DO - 10.1109/ROBOT.1998.677434
M3 - RGC 22 - Publication in policy or professional journal
SN - 1050-4729
VL - 2
SP - 1835
EP - 1840
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
Y2 - 16 May 1998 through 20 May 1998
ER -
