1P1-B20 Simultaneous Control of Position and Deformation of Viscoelastic Object

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Other Title
  • 1P1-B20 粘弾性物体の位置と変形の同時制御

Abstract

One of features of soft object manipulation is motion during deformation of the soft body. We analyze the stability of soft object manipulation by simultaneous control of position and deformation. We model and formulate manipulation by simultaneous control of the position and deformation of soft object. We then use the symmetric linear mass-damper-spring model for a simple analysis of its dynamical behavior. Second, we analyze the stability of the system. Thus, we show that an adequate feedback gain stabilized the system in PID control. Furthermore, we unravel the features of soft object manipulation by simultaneous control of position and deformation.

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