Vibration control of the grasped object with cooperative multiple manipulator

In a cooperative task using plural manipulators, an important issue to consider is the vibration of the grasped object. In particular, it is required to suppress the vibration which deteriorates the stable grasping motion. From this point of view, this paper describes a vibration suppression method of the grasped object by a multiple cooperative manipulator. To address the above issue, it is necessary to consider both the grasping force and vibration suppression control at the same time. In the general cooperative motion system, however, it is difficult to realize both control simultaneously and optimally. To improve the above problem, this paper proposes a construction method of hybrid controller and its application to the task planning of the grasped motion without the vibration. The numerical and experimental results also show the effectiveness of the proposed approach.