Abstract
In this paper, a dynamic model and a control architecture are developed for the closed chain motion of two two-link flexible manipulators holding a rigid object in a horizontal workspace. Since the hands of the flexible manipulators hold a common rigid object, a constraint condition should be satisfied. By using the Lagrange multiplier method and Hamilton's principle, we derive the dynamic relations of joint angles, vibrations of the flexible links, and constraint force. By introducing some assumptions and considering quasi-static partial differential equations of elastic deformations, a quasi-static model for designing a cooperative controller is derived. Considering the link parameter uncertainty and the quasi-static approximation, a robust cooperative control law of two flexible manipulators is derived. Experiments for the cooperative control of two flexible manipulators using a force sensor have been carried out. Several experimental results are shown.
