Flexible Objects Vibration Control and Handling Using DD Robot Arms

Abstract

This paper addresses issue of flexible object manipulation by using robot arms. The main objective is to establish a suitable control system of the robot for performing flexible object manipulation tasks. A force sensor equipped at the wrist of the robot arm is used to measure the vibration of the flexible object. A vibration control scheme is designed based on linear feedback of vibration measured by the force sensor. The control system is established by adding the vibration control scheme into the joint trajectory tracking controller. A 2-link DD (Direct Drive) robot arm with a six axes force/torque sensor equipped at the end is used as experimental test bed. Both simulation and experiment are carried out based on joint trajectory tracking and link flexible object manipulation experiments are carried out. The results demonstrate the effectiveness of the proposed manipulating strategy based on vibration control and trajectory tracking.