Manipulation of a Sheet Metal by Multi-Robots.

摘要

In this paper, we propose a control algorithm of multiple manipulators handling a flexible sheet metal, and to discuss how to deform a sheet metal and manipulate. First we derive the relation between static deformation of the sheet metal and bending and twisting moments exerted on the flexible sheet metal based on a finite-element model. We then design a control algorithm by which the deformation of the sheet metal is controlled using the internal force applied to it. Experimental results obtained from two industrial robots illustrate the validity of the proposed control system.