Modeling and Force Control for the Collaborative Manipulation of Deformable Strip-Like Materials

This work analyzes and evaluates state-of-the-art force control strategies for the collaborative multi-arm handling of deformable materials. We exploit and validate the well-known catenary equation to predict the materials sag and interaction stiffness. The material properties are considered in the manipulator design and coupled system stability is investigated including the dynamics of a first-order force low-pass filter. The analysis provides practical relevant conditions for the selection of the force controller parameters. Different force control strategies are implemented on a multi-arm manipulator, comprising two biaxial gantries, and are evaluated in the light of praxis-oriented case studies.