Cooperative control of a vibrating flexible object by a rigid dual-arm robot

In this paper, we deal with the handling of a vibrating flexible object by a rigid dual-arm robot. Each arm consists of two links and an end-effector. The aim of this work is to realize the position control of the flexible object while suppressing its vibration. In particular, the problem considered is about the control system designed to realize the active handling of the flexible object. For this purpose, we propose a model for both the robot and the object in a connected position so as to guarantee the whole handling system's stability. We also express a new mathematical model of the flexible object using the model reduction theory in the same connected position. The model of the robot and the object while they are in contact is derived by the positional requirements at the handling point. We also consider the design of the controller to satisfy the constraint condition at the static equilibrium point. The design of the combined system consisting of the robot and the object is useful for the analysis of whole handling system's stability.