• 한국정밀공학회지
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• 제17권9호
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• pp.87-94
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• 2000

In this paper we discuss the control scheme on cooperative control of two flexible manipulators working in 3D space. We propose a control scheme which consists of hybrid position/force control and vibration suppression control. Hybrid position/force control is extended from the scheme for two cooperating rigid manipulators to that for flexible ones. in addition to the control vibration suppression control based upon a lumped-mass-spring model of the flexible manipulators is applied. To illustrate the validity of the proposed control scheme we show experimental results. in the experiment a rigid object is handled by two cooperating flexible manipulators in 3D space.