Hybrid position/force control of two cooperative flexible manipulators working in 3D space

Abstract

In this paper, we discuss the control scheme on cooperative control of two flexible manipulators handling a rigid object in 3D space. We propose a control scheme which consists of hybrid position/force control and vibration suppression control. Hybrid position/force control is extended from that for two cooperative rigid manipulators to that for flexible ones. In addition to the control, vibration suppression control based upon the dynamics of both the flexible manipulators and the object is applied. To illustrate the validity of the proposed control scheme, we show experimental results.