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Modeling and Control of Two Manipulators Handling a Flexible Beam

By Amer S. Al-yahmadi and T. C. Hsia

Abstract

Abstract—This paper seeks to develop simple yet practical and efficient control scheme that enables cooperating arms to handle a flexible beam. Specifically the problem studied herein is that of two arms rigidly grasping a flexible beam and such capable of generating forces/moments in such away as to move a flexible beam along a predefined trajectory. The paper develops a sliding mode control law that provides robustness against model imperfection and uncertainty. It also provides an implicit stability proof. Simulation results for two three joint arms moving a flexible beam, are presented to validate the theoretical results. Keywords—Sliding mode control, cooperative manipulators. I

Year: 2013
OAI identifier: oai:CiteSeerX.psu:10.1.1.308.6272
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