Stability of control system in handling of a flexible object by rigid arm robots

摘要

In this paper, we deal with the handling of a flexible object by rigid arm robots. We consider three main tasks: 1) to propose a mathematical model for a variety of flexible objects of our daily life; 2) to design a controller to achieve cooperative handling of the flexible object by the robots; and 3) to analyze the stability and robustness of the control system. In particular, demands for manipulating a large-scale structure by a space robot will be increasing. Therefore, it is important to constitute the cooperative control problem of several robots handling a flexible object, and to analyze the proposed control system.