Modeling and Impedance Control of a Two-Manipulator System Handling a Flexible Beam

This paper presents a new approach of transporting a flexible beam handled by two manipulators to a desired position/orientation while suppressing its vibration, and simultaneously controlling the internal forces between the manipulators and the beam to avoid any damage on the system. The algorithm combines impedance control and an I-type force feedback into one scheme by designing a proper response of the interaction force. No information about the vibration is used in the controller. The asymptotic stability is investigated by using LaSalle theorem, based on the vibration dynamics of the beam approximated by m assumed modes (m → ∞). Simulations demonstrate the validity of the proposed method.

© 1997 by The American Society of Mechanical Engineers