Position and force control of two CRS A460 robots manipulating a flexible sheet: Theory and experiment

被引：3
|
作者：
Sun, D [1 ]
Mills, JK [1 ]
机构：
[1] Univ Toronto, Dept Mech & Ind Engn, Lab Nonlinear Syst Control, Toronto, ON M5S 3G8, Canada
来源：
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1998年 / 120卷 / 04期
关键词：
D O I：
10.1115/1.2801497
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
It is verified in theory and experiment that through proper design of the control gains, the simple PD position feedback cart control a flexible sheet manipulated by two industrial robots to a desired position while regulating its deformations at the contacts to zero. The offsets of all static deformations of the sheet with reference to the original positions decay to zero. A hybrid controller is further developed to control the motion of the sheet as well as its interactions with the manipulators by adding a force feedforward term to the PD scheme. This is the first time that conventional PD control has been shown to be applicable for use in the manipulation of flexible payload.
引用
收藏
页码：529 / 533
页数：5
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