Coordinated Control of Flexible Cables With Human-Like Dual Manipulators

Due to the flexibility and high degrees-of-freedom of flexible cables, their dynamic modeling and precise control are challenging. In this paper, the dynamic modeling and control of flexible cables with human-like dual manipulators are studied to deploy them on a plane and form the desired shapes automatically. First, we establish a dynamic model of flexible cables based on a discrete elastic rod model. This model can simulate their stretching, bending, and twisting deformations. Then, we consider the collisions, contacts, and frictions between the flexible cables and the plane, add kinematic constraints to the model, and finally obtain an implementable dynamic solution of the model. Next, we propose dynamic control schemes including parallel dual-arm control and coordinated dual-arm control to deploy the flexible cables on a plane and form the desired shapes for dual-arm controls. Finally, experimental and simulation studies are carried out to illustrate the effectiveness of the dynamic model and the validity of the control schemes. The results show that the model can successfully demonstrate the deformations of flexible cables, and the proposed control schemes can successfully manipulate flexible cables in different tasks.