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Internal force-based impedance control of dual-arm manipulation of flexible objects

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2 Author(s)
alYahmadi, A.S. ; Dept. of Mech. & Aero. Eng., California Univ., Davis, CA, USA ; Hsia, T.C.

This paper presents a simple and computationally efficient scheme for handling a flexible object by two coordinated manipulators. The simulation results for a dual three joints robotic arm system manipulating an object with a single degree of flexible freedom illustrate the ability of the proposed scheme to deform the object to reach a desired shape, and transport the deformed object along a given trajectory. The simulation results also show that it is possible to perform an assembly task, in which the control of contact forces between the object and the fixture is essential to guarantee the success of the assembly

Published in:

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:4 )

Date of Conference:

2000

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