Internal force-based impedance control of dual-arm manipulation of flexible objects

Amer S. AlYahmadi*, T. C. Hsia

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)


This paper presents a simple and computationally efficient scheme for handling a flexible object by two coordinated manipulators. The simulation results for a dual three joints robotic arm system manipulating an object with a single degree of flexible freedom illustrate the ability of the proposed scheme to deform the object to reach a desired shape, and transport the deformed object along a given trajectory. The simulation results also show that it is possible to perform an assembly task, in which the control of contact forces between the object and the fixture is essential to guarantee the success of the assembly.

Original languageEnglish
Pages (from-to)3296-3301
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 2000

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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