Dynamic modeling of two cooperating flexible manipulators

被引：0
作者：
Jin-Soo Kim
Masaru Uchiyama
机构：
[1] Tohoku University,Department of Aeronautics and Space Engineering
[2] Hyundai Motor Company,Commercial Vehicle Research Center
来源：
KSME International Journal | 2000年 / 14卷
关键词：
Cooperative Control; Two Flexible Manipulator; Lumped-Parameter Model; Experimental Robot; ADAMS; MATLAB;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In this paper, our aim is to develop a model for two cooperating flexible manipulators handling a rigid object by using lumped parameters. This model is in turn analyzed on MATLAB. In order to validate the model, a precise simulation model is developed using ADAMSTM (Automatic Dynamic Analysis of Mechanical System). Moreover, to clarify the discussion, the motions of a dual-arm experimental flexible manipulator are considered. Using the developed model, we control a robotic system with a symmetric hybrid position/force control scheme. Finally, experiments and simulations are performed, and a comparison of simulation results with experimental results is given to a rerify the validity of our model.
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收藏
页码：188 / 196
页数：8
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