Position and Force Control of Two CRS A460 Robots Manipulating a Flexible Sheet: Theory and Experiment

[+] Author and Article Information
Dong Sun, James K. Mills

Laboratory for Nonlinear Systems Control, Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario, Canada, M5S 3G8

J. Dyn. Sys., Meas., Control 120(4), 529-533 (Dec 01, 1998) (5 pages) doi:10.1115/1.2801497 History: Received September 15, 1997; Online December 03, 2007


It is verified in theory and experiment that through proper design of the control gains, the simple PD position feedback can control a flexible sheet manipulated by two industrial robots to a desired position while regulating its deformations at the contacts to zero. The offsets of all static deformations of the sheet with reference to the original positions decay to zero. A hybrid controller is further developed to control the motion of the sheet as well as its interactions with the manipulators by adding a force feedforward term to the PD scheme. This is the first time that conventional PD control has been shown to be applicable for use in the manipulation of flexible payload.

Copyright © 1998 by The American Society of Mechanical Engineers
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