Hybrid Position / Force Coordination for Dual - ArmManipulation of Flexible
نویسنده
چکیده
The problem of coordinating two arms for the manipulation of exible materials is studied through the bending of a exible beam. The solution proposed in this paper is based on a hybrid position/force approach. The choice of controlled variables in each direction is determined by minimum-eeort optimality criteria. The bending eeort is deened as the overall bending moment and force applied by the grippers. The control of forces exploits the material's elasticity, which is an impedance for the manipulators. The force controller then behaves as an admittance, in the form of an accommodation (inverse damping) law. Experimental results show the eecacy of the approach in achieving task requirements.
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