Accuracy of discrete models for the solution of the inverse dynamics problem for flexible arms, feasible trajectories

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

Volumn 119, Issue 3, 1997, Pages 396-404

  Moulin, H C ^a   Bayo, E ^b  

^a Matra Cap Systemes   (France)

^b UNIVERSITY OF NAVARRA   (Spain)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 0001189615     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.2801271     Document Type: Article

References (33)

1. Asada H., Ma Z. D., and Park J. H., 1989, “Inverse Dynamics of Flexible Robots: Feasible Solutions and Arm Design Guidelines,” Robotics Research, ASME, Edited by Youcef-Toumi Y. and Kazerooni H., pp. 279-288.
2. Bathe K. J., 1982, Finite Element Procedures in Engineering Analysis, Prentice-Hall.
3. Bayo E., 1987, “A Finite-Element Approach to Control the End-Point of a Single-Link Flexible Robot,” J. Of Robotic Systems, Vol. 4, No. 1, pp. 63-75.
4. Bayo E., Movaghar R., and Medus M., 1988, “Inverse Dynamics of a SingleLink Flexible Robot. Analytical and Experimental Results,” int. J. Of Robotics and Automation, Vol. 3, No. 3, pp. 150-157.
5. Bayo E., and Moulin H., 1989a, “An Efficient Computation of the Inverse Dynamics of Flexible Manipulators in the Time Domain,” Proc. Of the 1986 IEEE International Conference on Robotics and Automation, pp. 710-715.
6. Bayo E., and Moulin H., 1989b, “Stiffening Effects in the Inverse Dynamics of Flexible Manipulators,” Robotics Research, ASME, Youcef-Toumi Y. and Kazerooni H., eds., pp. 261-266.
7. Bayo E., Papadopoulos P., Stubbe L, and Serna M. A., 1989, “Inverse Kinematics and Dynamics of a Multi-Link Elastic Robots: An Iterative Frequency Domain Approach,” Int. J. Of Robotics Research, Vol. 8, No. 6, pp. 49-62.
8. Cannon R. H. Jr., and Schmitz E., 1984, “Initial Experiments on the End-Point Control of a Flexible One-Link Robot,” The Int. J. Of Robotics Research, Vol. 3, No. 3, Fall 84, pp. 62-75.
9. Chevreux L., 1987, “A Laplace Transformation Approach to the End-Point Motion Control of a Single-Link Flexible Robot,” Master’s Thesis in Mechanical Engineering, University of California, Santa-Barbara, Aug.
10. De Luca A., Lucibello P., and Ulivi G., 1988, “Inversion Techniques for Open and Closed-Loop Control of Flexible Robot Arms,” Robotics and Manufacturing. Recent Trends in Research, Education, and Applications, Proc. Of the Second International Symposium on Robotics and Manufacturing, pp. 529-538, Nov. 1988, Albuquerque, New-Mexico.: Jamshidi M., Luh J. S., Seraji H., and Starr G. P., eds.
11. De Luca A., and Siciliano B., 1988, “Joint-Based Control of a Nonlinear Model of a Flexible Arm,” 1988 American Control Conference, Vol. 2, pp. 935-940.
12. Eppinger S. D., and Seering W. P., 1988, “Modeling Robot for Endpoint Force Control,” Proceedings 1988 IEEE Int. Conf. On Robotics and Automation, pp. 165-170.
13. Fukuda T., 1985, “Flexibility Control of Elastic Robotic Arms,” Journal of Robotic Systems, Vol. 2, No. 1, pp. 73-88.
14. Harashima F., and Ueshiba T., 1986, “Adaptive Control of Flexible Arm Using the End-Point Position Sensing,” Japan. U.S.A. Symposium on Flexible Automation, Osaka, Japan. July 1986, pp. 225-229.
15. Hastings G. G., and Book W. J., 1986, “Verification of a Linear Dynamic Model for Flexible Robotic Manipulators,” Proc. Of the 1986 IEEE International Conference on Robotics and Automation, pp. 1024-1029.
16. Hirschorn R. M., 1979a, “Invertibility of Nonlinear Control Systems,” SIAM J. Control. Optimiz Vol. 17, No. 6, pp. 289-297.
17. Hirschorn R. M., 1979b, “Invertibility of Multivariable Nonlinear Control Systems,” IEEE Transactions on Automatic Control, Vol. AC-24, No. 6, pp. 855-865, Dec.
18. Kane T. R., Ryan R. R., and Banerjee A. K., 1985, “Dynamics of a Beam Attached to a Moving Frame,” Paper AAS 85-390, AAS/AIAA Astrodynamics Specialist Conference, Vail, Colorado, Aug.
19. Karkkainen P., and Halme A., 1985, “Modal Space Control of Manipulator Vibrational Motion,” SYMCO Control Conference, Barcelona, Spain, Nov.
20. Karkkainen P., 1985, “Compensation Manipulator Flexibility by Modal Space Techniques,” Proceedings 1985 IEEE Int. Conf on Robotics and Automation, pp. 972-977.
21. Kokkinis T., and Sahraian M., 1988, “Cartesian Space Control for Flexible Manipulators With Nonlinear Inversion,” Eleventh IASTED International Symposium, Robotics and Automation. May 27-28, Santa-Barbara, CA, USA, pp. 49-54.
22. Kotnik P., Yurkovich S., and Ozgtiner U, 1988, “Acceleration Feedback Control for a Flexible Robot Arm,” J. Of Robotic Research, Vol. 5, No. 3, pp. 191-196.
23. Kwon D. S., Book W. J. 1990, “An Inverse Dynamic Method Yielding Flexible Manipulator State Trajectories,” American Control Conference, WA7, pp. 186-193.
24. Matsuno F., Fukushima S., Ohsawa Y., Kiyohara M., and Sakawa Y., 1987, “Feedback Control of a Flexible Manipulator With a Parallel Drive Mechanism,” The International Journal of Robotics Research, Vol. 6, No. 4, pp. 76-84.
25. Sain M. K., and Massey J. L., 1969, “Invertibility of Linear Time Invariant Dynamical Systems,” IEEE Transactions on Automatic Control, Vol. AC-14, No. 2, pp. 141-149, April.
26. Sakawa Y., Matsuno F., and Fukushima S., 1985, “Modeling and Feedback Control of a Flexible Arm,” J. Of Robotic Research, Vol. 2, No. 4, pp. 453-472.
27. Shung I. Y. and Vidyasagar M., 1987, “Control of a Flexible Robot Arm with Bounded input: Optimum Step Responses,” Proc. Of the 1987 IEEE International Conference on Robotics and Automation, pp. 916-921.
28. Silverman L. M., 1969, “Inversion of Multivariable Linear Systems,” IEEE Transactions on Automatic Control, Vol. AC-14, No. 3, pp. 270-276, June.
29. Simo J. C., and Vu-Quoc L., 1987, “The Role of Non-Linear Theories in Transient Dynamic Analysis of Flexible Structures,” J. Of Sound and Vibration, Vol. 119, No, 3, pp. 487-508.
30. Singh S. N., 1981, “A Modified Algorithm for Invertibility in Nonlinear Systems,” TEEE Transactions on Automatic Control, Vol. AC-26, No. 2, pp. 595-598, April.
31. Stakgold I., 1979, Green’s functions and boundary value problems. Wiley.
32. Wang D., and Vidyasagar M., 1987, “Control of a Flexible Beam for Optimum Step Response,” Proceedings 1987 IEEE Int. Conf. On Robotics and Automation, pp. 1567-1572.
33. Wang D., and Vidyasagar M., 1989, “Transfer Functions for a Single Link Flexible,” Proceedings 1989 IEEE Int. Conf. On Robotics and Automation, pp. 1042-1047.