Manipulation of a flexible object by dual manipulators

Kazuhiro Kosuge; Masaru Sakai; Kiyoshi Kanitani; Hidehiro Yoshida; Toshio Fukuda

doi:10.1109/robot.1995.525304

Manipulation of a flexible object by dual manipulators

Kazuhiro Kosuge
, Masaru Sakai
, Kiyoshi Kanitani
, Hidehiro Yoshida
, Toshio Fukuda

Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review

45 Citations (Scopus)

Abstract

In this paper, we propose a control algorithm of dual manipulators handling a flexible sheet metal. How to bend a sheet metal and how to manipulate the deformed sheet are discussed in this paper. First we derive the relation between the static deformation of the sheet metal and the bending moments exerted on the sheet using the Lagrange's equation based on a finite element model of the sheet. We then design a control algorithm by which the motion of the manipulated sheet is controlled using the resultant force applied to the sheet and the deformation of the sheet is controlled using the internal force applied to the sheet. Since the rigidity of the deformed sheet is not uniform, that is, the stiffness of the deformed sheet may depend on the direction along which the external force is applied, we cannot use the compliance of the flexible sheet for tasks having interactions between the sheet and its environment. The proposed control algorithm is designed so that the apparent impedance of the manipulated sheet metal is specified. The experimental results using industrial robots will illustrate the validity of the proposed control system.

Original language	English
Pages (from-to)	318-323
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	1
DOIs	https://doi.org/10.1109/robot.1995.525304
Publication status	Published - 1995
Externally published	Yes
Event	Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn Duration: 21 May 1995 → 27 May 1995

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Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

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This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

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title = "Manipulation of a flexible object by dual manipulators",

abstract = "In this paper, we propose a control algorithm of dual manipulators handling a flexible sheet metal. How to bend a sheet metal and how to manipulate the deformed sheet are discussed in this paper. First we derive the relation between the static deformation of the sheet metal and the bending moments exerted on the sheet using the Lagrange's equation based on a finite element model of the sheet. We then design a control algorithm by which the motion of the manipulated sheet is controlled using the resultant force applied to the sheet and the deformation of the sheet is controlled using the internal force applied to the sheet. Since the rigidity of the deformed sheet is not uniform, that is, the stiffness of the deformed sheet may depend on the direction along which the external force is applied, we cannot use the compliance of the flexible sheet for tasks having interactions between the sheet and its environment. The proposed control algorithm is designed so that the apparent impedance of the manipulated sheet metal is specified. The experimental results using industrial robots will illustrate the validity of the proposed control system.",

author = "Kazuhiro Kosuge and Masaru Sakai and Kiyoshi Kanitani and Hidehiro Yoshida and Toshio Fukuda",

note = "Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].; Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) ; Conference date: 21-05-1995 Through 27-05-1995",

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T1 - Manipulation of a flexible object by dual manipulators

AU - Kosuge, Kazuhiro

AU - Sakai, Masaru

AU - Kanitani, Kiyoshi

AU - Yoshida, Hidehiro

AU - Fukuda, Toshio

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 1995

Y1 - 1995

N2 - In this paper, we propose a control algorithm of dual manipulators handling a flexible sheet metal. How to bend a sheet metal and how to manipulate the deformed sheet are discussed in this paper. First we derive the relation between the static deformation of the sheet metal and the bending moments exerted on the sheet using the Lagrange's equation based on a finite element model of the sheet. We then design a control algorithm by which the motion of the manipulated sheet is controlled using the resultant force applied to the sheet and the deformation of the sheet is controlled using the internal force applied to the sheet. Since the rigidity of the deformed sheet is not uniform, that is, the stiffness of the deformed sheet may depend on the direction along which the external force is applied, we cannot use the compliance of the flexible sheet for tasks having interactions between the sheet and its environment. The proposed control algorithm is designed so that the apparent impedance of the manipulated sheet metal is specified. The experimental results using industrial robots will illustrate the validity of the proposed control system.

AB - In this paper, we propose a control algorithm of dual manipulators handling a flexible sheet metal. How to bend a sheet metal and how to manipulate the deformed sheet are discussed in this paper. First we derive the relation between the static deformation of the sheet metal and the bending moments exerted on the sheet using the Lagrange's equation based on a finite element model of the sheet. We then design a control algorithm by which the motion of the manipulated sheet is controlled using the resultant force applied to the sheet and the deformation of the sheet is controlled using the internal force applied to the sheet. Since the rigidity of the deformed sheet is not uniform, that is, the stiffness of the deformed sheet may depend on the direction along which the external force is applied, we cannot use the compliance of the flexible sheet for tasks having interactions between the sheet and its environment. The proposed control algorithm is designed so that the apparent impedance of the manipulated sheet metal is specified. The experimental results using industrial robots will illustrate the validity of the proposed control system.

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DO - 10.1109/robot.1995.525304

M3 - RGC 21 - Publication in refereed journal

SN - 1050-4729

VL - 1

SP - 318

EP - 323

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

T2 - Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3)

Y2 - 21 May 1995 through 27 May 1995

ER -

Manipulation of a flexible object by dual manipulators

Abstract

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