Position/force control of two manipulators handling a flexible payload based on finite-element model

This article discusses the issues of two robot manipulators handling a flexible payload in modelling and position/force control The modelling method used in this paper is the finite - element method(FEM). The relations between the coordinates of the joints, end-effectors and payload are analyzed. The model of cooperative system is got in the payload space. A controller based on rigid control is designed and for the unmeasurable vibration states a compensatory item is added. Under the control law, the flexible payload can arrive at the anticipant position/orientation and the internal forces are bounded. Simulation results demonstrate the validity of the control method.