| contributor author | Dong Sun | |
| contributor author | James K. Mills | |
| date accessioned | 2017-05-08T23:56:05Z | |
| date available | 2017-05-08T23:56:05Z | |
| date copyright | December, 1998 | |
| date issued | 1998 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26251#529_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/120136 | |
| description abstract | It is verified in theory and experiment that through proper design of the control gains, the simple PD position feedback can control a flexible sheet manipulated by two industrial robots to a desired position while regulating its deformations at the contacts to zero. The offsets of all static deformations of the sheet with reference to the original positions decay to zero. A hybrid controller is further developed to control the motion of the sheet as well as its interactions with the manipulators by adding a force feedforward term to the PD scheme. This is the first time that conventional PD control has been shown to be applicable for use in the manipulation of flexible payload. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Position and Force Control of Two CRS A460 Robots Manipulating a Flexible Sheet: Theory and Experiment | |
| type | Journal Paper | |
| journal volume | 120 | |
| journal issue | 4 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.2801497 | |
| journal fristpage | 529 | |
| journal lastpage | 533 | |
| identifier eissn | 1528-9028 | |
| keywords | Robots | |
| keywords | Force control | |
| keywords | Deformation | |
| keywords | Control equipment | |
| keywords | Motion | |
| keywords | Manipulators | |
| keywords | Design | |
| keywords | Feedback | |
| keywords | Feedforward control AND Force | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1998:;volume( 120 ):;issue: 004 | |
| contenttype | Fulltext | |