Dynamic modeling of cooperative robots holding flexible objects

Philip Long, Wisama Khalil, Philippe Martinet

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

9 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 17th International Conference on Advanced Robotics, ICAR 2015
EditorsUluc Saranli, Sinan Kalkan
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages182-187
Number of pages6
ISBN (Electronic)9781467375092
DOIs
Publication statusPublished - 13 Oct 2015
Externally publishedYes
Event17th International Conference on Advanced Robotics, ICAR 2015 - Istanbul, Turkey
Duration: 27 Jul 201531 Jul 2015

Publication series

NameProceedings of the 17th International Conference on Advanced Robotics, ICAR 2015

Conference

Conference17th International Conference on Advanced Robotics, ICAR 2015
Country/TerritoryTurkey
CityIstanbul
Period27/07/1531/07/15

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