TY - GEN
T1 - Dynamic modeling of cooperative robots holding flexible objects
AU - Long, Philip
AU - Khalil, Wisama
AU - Martinet, Philippe
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/10/13
Y1 - 2015/10/13
N2 - In this paper a method of calculating the inverse and direct dynamic model of cooperative manipulators handling flexible objects is presented. In order to solve the dynamics of this system, the closed chain is divided into two subsystems, one is flexible, representing the object and the other is rigid, representing the tree structure of the two manipulators. The two subsystems are connected by calculating the wrench transmitted by the end effectors. An analytic solution is obtained for the dynamic model. The proposed solution leads to a classification of objects grasped by multiple manipulators.
AB - In this paper a method of calculating the inverse and direct dynamic model of cooperative manipulators handling flexible objects is presented. In order to solve the dynamics of this system, the closed chain is divided into two subsystems, one is flexible, representing the object and the other is rigid, representing the tree structure of the two manipulators. The two subsystems are connected by calculating the wrench transmitted by the end effectors. An analytic solution is obtained for the dynamic model. The proposed solution leads to a classification of objects grasped by multiple manipulators.
UR - http://www.scopus.com/inward/record.url?scp=84957646108&partnerID=8YFLogxK
U2 - 10.1109/ICAR.2015.7251453
DO - 10.1109/ICAR.2015.7251453
M3 - Conference contribution
AN - SCOPUS:84957646108
T3 - Proceedings of the 17th International Conference on Advanced Robotics, ICAR 2015
SP - 182
EP - 187
BT - Proceedings of the 17th International Conference on Advanced Robotics, ICAR 2015
A2 - Saranli, Uluc
A2 - Kalkan, Sinan
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 17th International Conference on Advanced Robotics, ICAR 2015
Y2 - 27 July 2015 through 31 July 2015
ER -