Experiments on capturing a floating object by two flexible manipulators

Abstract

This paper discusses a way of capturing a floating object by two flexible manipulators. We propose a capturing procedure using hybrid position/force control and vibration suppression control. The procedure is established so that two hands reach the object simultaneously and grasp the object exerting the desired forces/moments. The hands approach the object measuring the positions/orientations of the object and grasp it measuring the exerted forces/moments in the procedure. The effectiveness of our method is shown in experiments using two 3D manipulators, each of which has two flexible links and seven joints.