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JRM Vol.10 No.3 pp. 170-177
doi: 10.20965/jrm.1998.p0170
(1998)

Paper:

Manipulation of Sheet Metal by Multiple Robots

Kazuhiro Kosuge*, Hidehiro Yoshida**, Toshio Fukuda***, Kiyoshi Kanitani**** and Masaru Sakai****

*Dept. of Machine Intelligence and Systems Eng., Tohoku University, Aza-Aoba, Aramaki, Aoba-ku, Sendai 980-0845, Japan

**Production Engineering Laboratory, Corporate Production Engineering Division, Matsushita Electric Industrial Co., Ltd., 2-7 Matsuba-cho, Kadoma-shi, Osaka 571-0056, Japan

***Dept. of Micro System Engineering, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-0814, Japan

****NACHI-FUJIKOSHI CORP., 1-1-1 Fujikoshi-honmachi, Toyama-shi, Toyama 930-8511, Japan

Received:
February 3, 1998
Accepted:
March 28, 1998
Published:
June 20, 1998
Keywords:
Robot, Finite-element method, Manipulation, Sheet metal, Deformation
Abstract

We propose a control algorithm for multiple manipulators handling flexible metal and discuss how to deform and manipulate sheet metal. We use a finite element method to derive the relationship between static deformation of sheet metal and bending and twisting moments exerted on it. We design a control algorithm to control deformation using internal force applied to the sheet. Experimental results obtained from two industrial robots verify the proposed control system’s validity.

Cite this article as:
Kazuhiro Kosuge, Hidehiro Yoshida, Toshio Fukuda, Kiyoshi Kanitani, and Masaru Sakai, “Manipulation of Sheet Metal by Multiple Robots,” J. Robot. Mechatron., Vol.10, No.3, pp. 170-177, 1998.
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