文章基本信息

标题：Modeling and Force Control for the Collaborative Manipulation of Deformable Strip-Like Materials
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作者：Stefan Flixeder ; Stefan Flixeder ; Tobias Glück 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：21
页码：95-102
DOI：10.1016/j.ifacol.2016.10.518
语种：English
出版社：Elsevier
摘要：Abstract: This work analyzes and evaluates state-of-the-art force control strategies for the collaborative multi-arm handling of deformable materials. We exploit and validate the well-known catenary equation to predict the materials sag and interaction stiffness. The material properties are considered in the manipulator design and coupled system stability is investigated including the dynamics of a first-order force low-pass filter. The analysis provides practical relevant conditions for the selection of the force controller parameters. Different force control strategies are implemented on a multi-arm manipulator, comprising two biaxial gantries, and are evaluated in the light of praxis-oriented case studies.
关键词：KeywordsForce ControlImpedance ControlDeformable MaterialsCollaborative Handling