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- Publisher Website: 10.1109/ICRA.2014.6907614
- Scopus: eid_2-s2.0-84929191730
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Conference Paper: Coordinated motion control of dual manipulators for handling a rigid object with non-negligible deformation
Title | Coordinated motion control of dual manipulators for handling a rigid object with non-negligible deformation |
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Authors | |
Issue Date | 2014 |
Citation | Proceedings - IEEE International Conference on Robotics and Automation, 2014, p. 5145-5151 How to Cite? |
Abstract | In this paper, we propose a coordinated motion control algorithm of dual manipulators for handling of an almost rigid object but with non-negligible deformation. By the proposed algorithm, an almost rigid object with non-negligible deformation, such as a cardboard box, a plastic case, etc., is held and manipulated by dual manipulators stably without producing any vibrations. By defining apparent dynamics of dual manipulators for the interface force between the object and its environment and the dissipative dynamics for the internal force applied by the manipulators to the object independently, stable manipulation is achieved. Experimental results illustrate that the vibratory motion of the manipulated object caused by non-negligible deformation is eliminated by the proposed control algorithm while the apparent dynamics of the manipulated object is realized. |
Persistent Identifier | http://hdl.handle.net/10722/302924 |
ISSN | 2023 SCImago Journal Rankings: 1.620 |
DC Field | Value | Language |
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dc.contributor.author | Kosuge, Kazuhiro | - |
dc.contributor.author | Kamei, Kentaro | - |
dc.contributor.author | Nammoto, Takashi | - |
dc.date.accessioned | 2021-09-07T08:42:51Z | - |
dc.date.available | 2021-09-07T08:42:51Z | - |
dc.date.issued | 2014 | - |
dc.identifier.citation | Proceedings - IEEE International Conference on Robotics and Automation, 2014, p. 5145-5151 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302924 | - |
dc.description.abstract | In this paper, we propose a coordinated motion control algorithm of dual manipulators for handling of an almost rigid object but with non-negligible deformation. By the proposed algorithm, an almost rigid object with non-negligible deformation, such as a cardboard box, a plastic case, etc., is held and manipulated by dual manipulators stably without producing any vibrations. By defining apparent dynamics of dual manipulators for the interface force between the object and its environment and the dissipative dynamics for the internal force applied by the manipulators to the object independently, stable manipulation is achieved. Experimental results illustrate that the vibratory motion of the manipulated object caused by non-negligible deformation is eliminated by the proposed control algorithm while the apparent dynamics of the manipulated object is realized. | - |
dc.language | eng | - |
dc.relation.ispartof | Proceedings - IEEE International Conference on Robotics and Automation | - |
dc.title | Coordinated motion control of dual manipulators for handling a rigid object with non-negligible deformation | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ICRA.2014.6907614 | - |
dc.identifier.scopus | eid_2-s2.0-84929191730 | - |
dc.identifier.spage | 5145 | - |
dc.identifier.epage | 5151 | - |