Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
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Dynamic Modeling of Two Cooperating Flexible Manipulators

  • Kim, Jin-Soo (Commercial Vehicle Research Center, Hyundai Motor Company) ;
  • Uchiyama, Masaru (Department of Aeronautics and Space Engineering, Tohoku University)
  • Published : 2000.02.01
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Abstract

In this paper, our aim is to develop a model for two cooperating flexible manipulators handling a rigid object by using lumped parameters. This model is in turn analyzed on MATLAB. In order to validate the model, a precise simulation model is developed using $ADAMS^{TM}$ (Automatic Dynamic Analysis of Mechanical System). Moreover, to clarify the discussion, the motions of a dual-arm experimental flexible manipulator are considered. Using the developed model, we control a robotic system with a symmetric hybrid position/force control scheme. Finally, experiments and simulations are performed, and a comparison of simulation results with experimental results is given to a rerify the validity of our model.

Keywords

References

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