Vibration control of the grasped object with cooperative multiple manipulator

Takashi Matsumoto, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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
Title of host publicationIEEE International Symposium on Industrial Electronics
PublisherIEEE
Pages163-168
Number of pages6
Volume1
Publication statusPublished - 1999
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

Fingerprint

Vibration control
Manipulators
Planning
Controllers

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Matsumoto, T., & Murakami, T. (1999). Vibration control of the grasped object with cooperative multiple manipulator. In IEEE International Symposium on Industrial Electronics (Vol. 1, pp. 163-168). IEEE.

Vibration control of the grasped object with cooperative multiple manipulator. / Matsumoto, Takashi; Murakami, Toshiyuki.

IEEE International Symposium on Industrial Electronics. Vol. 1 IEEE, 1999. p. 163-168.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Matsumoto, T & Murakami, T 1999, Vibration control of the grasped object with cooperative multiple manipulator. in IEEE International Symposium on Industrial Electronics. vol. 1, IEEE, pp. 163-168, Proceedings of the 1999 IEEE International Symposium on Industrial Electronics (ISIE'99), Bled, Slovenia, 99/7/12.
Matsumoto T, Murakami T. Vibration control of the grasped object with cooperative multiple manipulator. In IEEE International Symposium on Industrial Electronics. Vol. 1. IEEE. 1999. p. 163-168
Matsumoto, Takashi ; Murakami, Toshiyuki. / Vibration control of the grasped object with cooperative multiple manipulator. IEEE International Symposium on Industrial Electronics. Vol. 1 IEEE, 1999. pp. 163-168
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