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 ADAMSTM (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.
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Kim, JS., Uchiyama, M. Dynamic modeling of two cooperating flexible manipulators. KSME International Journal 14, 188–196 (2000). https://doi.org/10.1007/BF03184785
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DOI: https://doi.org/10.1007/BF03184785