This paper discusses a grasping, orientation, and position control of an object by two flexible arms modeled by the Timoshenko beam. By utilizing our previously proposed controller for the cooperative control, we realize to control the grasping force, orientation, and position of an object as well as to suppress the vibration of the flexible arms. In particular, the closed-loop system is formulated in a Hilbert space, and the exponential stability of the closed-loop system is shown by the frequency domain method. The lightweight flexible arm has intrinsic elastic compliance, and thus the grasping by the flexible arms is safer than that by the rigid arms. In addition, the exponential stability of the closed-loop system contributes to the performance improvement of the grasping and manipulation of an object. Finally, experiments are conducted to confirm the validity of the stability analysis.

中文翻译：

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两个 Timoshenko 手臂抓取和操作物体的指数稳定性

本文讨论了由 Timoshenko 梁建模的两个柔性臂对物体的抓取、定向和位置控制。通过利用我们之前提出的用于协同控制的控制器，我们实现了控制物体的抓取力、方向和位置以及抑制柔性臂的振动。特别地，闭环系统在希尔伯特空间中被公式化，闭环系统的指数稳定性用频域方法表示。轻质柔性臂具有固有的弹性柔顺性，因此柔性臂的抓握比刚性臂的抓握更安全。此外，闭环系统的指数稳定性有助于提升物体抓取和操纵的性能。最后，