Hybrid Position/Force Control of Two Cooperative Flexible Manipulators Working in 3D Space
نویسندگان
چکیده
In this paper, w e discuss the control scheme o n cooperative con,trol of two flexible man,ipulators handling a rigid object in 3 0 space. W e propose a control scheme which consists of hybrid position/force control and vibration suppression control. Hybrid position/force control is extended from. that f o r two cooperative rigid m.anipu1ators to that f o r flexible ones. In nddition to the control, vibration suppression control based upon the dynamics of both the flexible manipu1n.tors and the object i s applied. To illustrate the validity of the proposed control schem.e: we show experimental results.
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