Trajectory Planning for Two Manipulators to Deform Flexible materials Using Compliant Motion
نویسندگان
چکیده
Coordinating two robot manipulators to handle flexible materials has a wide range of applications in the manufacturing industry. However, this problem has not been seriously addressed until recently. The two robot manipulators have to follow complicated trajectories to maintain a minimum interaction force with the flexible beam. These trajectories are very complicated and not suitable for real time systems. A compliant motion scheme is proposed to reduce the interaction forces and moments. The stability of the proposed system is investigated. Experimental results encourage the proposed scheme.
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