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The International Journal of Robotics Research
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Robust Cooperative Control of Two Two-Link Flexible Manipulators on the Basis of Quasi-Static Equations

Fumitoshi Matsuno

Department of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, Midori, Yokohama 226-8502, Japanmatsuno{at}dis.titech.ac.jp

Michinori Hatayama

Department of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, Midori, Yokohama 226-8502, Japanhatayama{at}cs.dis.titech.ac.jp

In this paper, a dynamic model of a distributed parameter system and a control architecture are developed for the closed-chain motion of two two-link flexible manipulators holding a common rigid object in a horizontal workspace. We derive the dynamic relation of deformation of the flexible links, constraint force, and rigid-object dynamics. Use of the quasi-static relation of the deformation, the constraint force, and the rigid-object dynamics gives quasi-static equations of joint angles which are not dependent on the variables related to the deformations of the flexible links. We design a robust cooperative controller of the two flexible manipulators considering measurement disturbances and modeling errors caused by the link-parameter uncertainty and the quasi-static approximation. A set of experiments for the cooperative control of the two flexible manipulators using a force sensor has been carried out. Several experimental results are shown.

The International Journal of Robotics Research, Vol. 18, No. 4, 414-428 (1999)
DOI: 10.1177/02783649922066295
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