Vibration control of the grasped object with cooperative multiple manipulator

Takashi Matsumoto, Toshiyuki Murakami

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

In cooperative task by plural manipulators, it is an important issue to consider the vibration of the grasped object. In particular, it is required to suppress the vibration which deteriorates the stable grasping motion. From this point of view, this paper describes a vibration suppression method of the grasped object by multiple cooperative manipulator. To address the above issue, it is necessary to consider both the grasping force and vibration suppression control at the same time. In the general cooperative motion system, however, it is difficult to realize both control simultaneously and optimally. To improve the above problem, this paper proposes a construction method of hybrid controller and its application to the task planning of the grasped motion without the vibration. The numerical and experimental results also show the effectiveness of the proposed approach.

Original languageEnglish
Pages163-168
Number of pages6
Publication statusPublished - 1999 Dec 1
EventProceedings of the 1999 IEEE International Symposium on Industrial Electronics (ISIE'99) - Bled, Slovenia
Duration: 1999 Jul 121999 Jul 16

Other

OtherProceedings of the 1999 IEEE International Symposium on Industrial Electronics (ISIE'99)
CityBled, Slovenia
Period99/7/1299/7/16

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • Cite this

    Matsumoto, T., & Murakami, T. (1999). Vibration control of the grasped object with cooperative multiple manipulator. 163-168. Paper presented at Proceedings of the 1999 IEEE International Symposium on Industrial Electronics (ISIE'99), Bled, Slovenia, .