Manipulation of sheet metal by multiple robots

摘要

We propose a control algorithm for multiple manipulators handling flexible metal and discuss how todeform and manipulate sheet metal. We use a finite element method to derive the relationshipbetween static deformation of sheet metal and bending and twisting moments exerted on it. We designa control algorithm to control deformation using internal force applied to the sheet. Experimentalresults obtained from two industrial robots verify the proposed control system's validity.