Active damping of a large flexible manipulator with a short-reach robot

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 118, Issue 4, 1996, Pages 704-713

  Sharf, I ^a  

^a UNIVERSITY OF VICTORIA   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 0000606522     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.2802346     Document Type: Article

References (24)

1. Ballhaus, W. L., and Rock, S. M., 1992, “End-Point Control of a Two-link Flexible Robotic Manipulator with a Mini-Manipulator: Coupling Issues,” Dynamics of Flexible Multibody Systems: Theory and Experiment, AMD-Vol. 141/DSC-Vol. 37, pp. 17-22.
2. Book, W. J., and Lee, S. H., 1989, “Vibration Control of a Large Flexible Manipulator by a Small Robotic Arm,” Proc. American Control Conference, Pittsburgh, PA, Vol. 2, pp. 1377-1380.
3. Chalhoub, N., and Zhang, X., 1993, “Reduction of the End Effector Sensitivity to the Structural Deflections of a Single Flexible Link: Theoretical and Experimental Results,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 115, No. 4, pp. 658-666.
4. D’Eleuterio, G. M. T., 1992, “Dynamics of an Elastic Multibody Chain: Part C—Recursive Dynamics,” Int. J. Dynamics and Stability of Systems, Vol. 7, No. 2, pp. 61-89.
5. Hughes, P. C., and Sincarsin, G. B., 1989, “Dynamics of an Elastic Multibody Chain: Part B—Global Dynamics,” Int. J. Dynamics and Stability of Systems, Vol. 4, Nos. 3-4, pp. 227-244.
6. Lee, S. H., and Book, W. J., 1990, “Robot Vibration Control using Inertial Damping Forces,” presented at Proc. VIII ClSM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators, Cracow, Poland.
7. Lew, J. Y., and Book, W. J., 1994, “Bracing Micro/Macro Manipulators Control,” Proc. IEEE International Conference on Robotics and Automation, San Diego, CA, Vol. 3, pp. 2362-2368.
8. Lew, J. Y., Trudnowski, D. J., Evans, M. S., and Bennett, D. W., 1995, “Micro Manipulator Motion Control to Suppress Macro Manipulator Structural Vibrations,” Proc. IEEE International Conference on Robotics and Automation, Nagoya, Japan, Vol. 3, pp. 3116-3120.
9. Park, J.-H., and Asada, H., 1990, “Design and Control of Minimum Phase Flexible Arms with Torque Transmission Mechanisms,” Proc. IEEE International Conference on Robotics and Automation, pp. 1790-1795.
10. Sharf, I., 1994, “Active Damping of a Macro-Manipulator Through Motion of the Micro-Robot,” Proc. 8th CASI Conference on Astronautics, Ottawa, pp. 391 - 400.
11. Shaif, I., and D’Eleuterio, G. M. T., 1988, “Computer Simulation of Elastic Chains Using a Recursive Formulation,” Proc. IEEE International Conference on Robotics and Automation, Philadelphia, PA, Vol. 3, pp. 1539-1547.
12. Sharf, I., and D’Eleuterio, G. M. T., 1993, “An Iterative Approach to Multibody Simulation Dynamics Suitable for Parallel Implementation,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 115, No. 4, pp. 730-735.
13. Sharon, A., and Hardt, D., 1984, “Enhancement of Robot Accuracy Using Endpoint Feedback and a Macro-Micro Manipulator System,” Proc. American Control Conference, San Diego, CA, pp. 1836-1842.
14. Sincarsin, G. B., and Hughes, P. C., 1989, “Dynamics of an Elastic Multibody Chain: Part A—Body Motion Equations,” Int. J. Dynamics and Stability of Systems, Vol. 4, Nos. 3-4, pp. 209-226.
15. Sincarsin, G. B., D’Eleuterio, G. M. T., and Hughes, P. C., 1993, “Dynamics of an Elastic Multibody Chain: Part D—Modelling of Joints,” Int. J. Dynamics and Stability of Systems, Vol. 8, No. 2, pp. 127-146.
16. Singh, S. N., and Schy, A. A., 1986, “Control of Elastic Robotic Systems by Nonlinear Inversion and Modal Damping,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 108, pp. 180-189.
17. SPAR, 1992, SPAR-SS-SG-0276 Issue G, SPAR-SS-TM-1049 Issues B and C.
18. Torres, M. A., and Dubowsky, S., 1993, “Path-Planning for Elastically Constrained Space Manipulator Systems,” Proc. IEEE International Conference on Robotics and Automation, Atlanta, Georgia, Vol. 1, pp. 812-817.
19. Torres, M. A., Dubowsky, S., and Pisoni, A., 1994, “Path-Planning for Elastically-Mounted Space Manipulators: Experimental Evaluation of the Coupling Map,” Proc. IEEE International Conference on Robotics and Automation, San Diego, CA, Vol. 3, pp. 2227-2233.
20. Trudnowski, D. J., Baker, C. P., and Evans, M. S., 1993, “Damping Control of a Large Flexible Manipulator Through Inertial Forces of a Small Manipulator,” Proc. American Control Conference, San Francisco, CA, pp. 2878-2879.
21. Vaillancourt, C., and Gosselin, C. G., 1994, “Compensating for the Structural Flexibility of the SSRMS with the SPDM,” Proc, International Advanced Robotics Program, Second Workshop on Robotics in Space, Canadian Space Agency, Montreal, Canada, July.
22. Yoshikawa, T., Hosoda, K., Doi, T., and Murakami, H., 1993, “Quasi-Static Trajectory Tracking Control of Flexible Manipulator by Macro-Micro Manipulator System,” Proc. IEEE International Conference on Robotics and Automation, Atlanta, Georgia, Vol. 1, pp. 210-215.
23. Yoshikawa, T., Hosoda, K., Doi, T., and Murakami, H., 1994, “Dynamic Trajectory Tracking Control of Flexible Manipulator by Macro-Micro Manipulator System,” Proc. IEEE International Conference on Robotics and Automation, San Diego, CA, Vol. 3, pp. 1804-1809.
24. Zaki, A. S., and ElMaraghy, W. H., 1995, “A Robust Observer for Flexible-Link Manipulators Control,” Proc. American Control Conference, Seattle, WA, Vol. 5, pp. 3334-3338.