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Exponential Stability of Two Timoshenko Arms for Grasping and Manipulating an Object

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  • Robot and Applications
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Abstract

This paper discusses a grasping, orientation, and position control of an object by two flexible arms modeled by the Timoshenko beam. By utilizing our previously proposed controller for the cooperative control, we realize to control the grasping force, orientation, and position of an object as well as to suppress the vibration of the flexible arms. In particular, the closed-loop system is formulated in a Hilbert space, and the exponential stability of the closed-loop system is shown by the frequency domain method. The lightweight flexible arm has intrinsic elastic compliance, and thus the grasping by the flexible arms is safer than that by the rigid arms. In addition, the exponential stability of the closed-loop system contributes to the performance improvement of the grasping and manipulation of an object. Finally, experiments are conducted to confirm the validity of the stability analysis.

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Authors and Affiliations

  1. Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan

    Dongming Wu, Takahiro Endo & Fumitoshi Matsuno

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  1. Dongming Wu
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  2. Takahiro Endo
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  3. Fumitoshi Matsuno
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Correspondence to Takahiro Endo.

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Recommended by Associate Editor Wei He under the direction of Editor-in-Chief Keum-Shik Hong.

Dongming Wu received his M.S. degrees in mechanical engineering and science from Kyoto University, Kyoto, Japan, in 2019. His research interests include control of infinite dimensional systems.

Takahiro Endo received his Ph.D. (Dr. Eng.) from Tokyo Institute of Technology, Japan, in 2006. Since April 2015, he has been with the Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan, where he is currently an Associate Professor. His research interests include haptic interfaces, robotics, and control of infinite dimensional systems.

Fumitoshi Matsuno received his Ph.D. (Dr. Eng.) from Osaka University in 1986. In 1986, he joined the Department of Control Engineering, Osaka University. Since 2009, he has been a Professor in the Department of Mechanical Engineering and Science, Kyoto University. His current research interests lie in robotics, swarm intelligence, control of distributed parameter system and nonlinear system, and rescue support system in disaster. He served as a President of the Institute of Systems, Control and Information Engineers (ISCIE), a General Chair of IEEE SSRR2011 and IEEE/SICE SII2011, SWARM2015, SWARM2017 etc. He is a Vice-President of RSJ, a Fellow member of the SICE, the JSME, the RSJ and a member of the IEEE among other organizations.

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Wu, D., Endo, T. & Matsuno, F. Exponential Stability of Two Timoshenko Arms for Grasping and Manipulating an Object. Int. J. Control Autom. Syst. 19, 1328–1339 (2021). https://doi.org/10.1007/s12555-020-0075-8

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  • DOI: https://doi.org/10.1007/s12555-020-0075-8

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