Vibration Suppression in Collaborative Flexible Payload Manipulation Using Passive Force Control

2026-08-14

AI Summary

This study addresses the challenge of lateral vibration suppression in cooperative transportation of large flexible payloads by heterogeneous robots. A passive force-control collaborative framework is proposed, employing a leader-follower architecture that integrates velocity command shaping with admittance control to establish an equivalent mass-spring-damper model. The system’s energy dissipation stability is rigorously proven through passivity analysis. Both simulations and experimental results demonstrate that this strategy effectively achieves passive vibration damping and stable cooperative transport for heavy flexible loads. Consequently, the proposed method successfully resolves critical issues regarding compliant control and stability assurance in heterogeneous robotic collaboration, offering a robust solution for manipulating large-scale flexible objects without active feedback complexity.

Abstract

In large and heavy structures, vibrations arise during motion, posing significant challenges for precise manipulation. To accomplish the desired motion, control algorithms must effectively suppress these structural vibrations. In cutting edge projects, such as remote maintenance of future fusion energy reactors (tokamaks), the manipulation of this type of structure is defined as a crucial task. This paper presents a control strategy to suppress transverse vibrations in flexible payloads during motion using a collaborative payload manipulation approach. Two different industrial robot arms are arranged in a leader follower configuration for the manipulation strategy. The leader robot guides the motion with shaped velocity commands, while the follower robot ensures compliance with the estimated external forces applied by the leader on the payload through an admittance controller. Unlike existing methods, the proposed approach enables collaborative manipulation of heavier and larger flexible objects, addressing additional challenges such as vibration suppression and heterogeneous robot specifications. The dynamics of the leader follower payload system are modeled using an equivalent mass spring damper model, and it is shown that, with appropriate admittance parameters, the total energy of the system is passively dissipated. A stability proof is also provided. Numerical simulations validate the proposed method, and experimental results demonstrate its effectiveness.

Problem

• Vibration Suppression
• Collaborative Manipulation
• Flexible Payload
• Leader-Follower Configuration

Innovation

• Passive Force Control
• Collaborative Manipulation
• Vibration Suppression
• Admittance Controller
• Leader-Follower Configuration