We propose a control algorithm of multiple manipulation handling a flexible sheet metal, and to discuss how to deform sheet metal and manipulate. First we derive the relation between static deformation of the sheet metal and bending and twisting moments exerted on the flexible sheet metal based on the finite-elements model. We then design a control algorithm by which the deformation of the sheet metal is controlled using the internal force applied to it. Experimental results obtained from two industrial robots illustrate the validity of the proposed control system.
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