Nonlinear inverse and predictive end point trajectory control of flexible macro-micro manipulators

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

Volumn 119, Issue 3, 1997, Pages 412-420

  Yim, Woosoon ^a   Singh, Sahjendra N ^b  

^a UNIVERSITY OF NEVADA   (United States)

^b University of Nevada Las Vegas   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 0001764870     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.2801273     Document Type: Article

References (20)

1. Asada, H., Ma, Z.-D., and Tokumaru, H., 1990, “Inverse Dynamics of Flexible Robot Arms: Modeling and Computation of Trajectory Control,” ASME Journal of Dynamic SysteMvS, Measurement, and Control, Vol. 112, No. 6, pp. 117-185.
2. Ballhaus, W. L., and Rock, S. M., 1992 “End-Point Control of a Two-Link Flexible Robotic Manipulator with Mini-Manipulator: Initial Experiment,” Proc. of American Control Conference, pp. 2510-2514.
3. Bayo, E., Papadopoulos, P., Stubbe, J., and Serna, M., 1989, “Inverse Dynamics and Kinematics of Multi-Link Elastic Robots: An Iterative Frequency Domain Approach,” Int. J. Robotics Research, Vol. 8, No. 6, pp. 49-62.
4. Chiang, W., Kraft, R., and Cannon R. H., 1991 “Design and Experimental Demonstration of Rapid, Precise End-Point Control of a Wrist Carried by a Very Flexible Manipulator,” Int. Journal of Robotics Research, Vol. 10(1), pp. 30-40.
5. De Luca, A., Lucibello, P., and Ulivi, G., 1989, “Inversion Techniques for Trajectory Control of Flexible Robot Arms,” J. of Robotic Systems, Vol. 6, No. 4, 325-344.
6. Hogan, N., Sharon, A., and Hardt, E. D., 1988, “High Bandwidth Force Regulation and Inertia Reduction Using a Macro/Micro Manipulator System,” Proc. of IEEE Corf, on Robotics and Automation, pp. 126-132.
7. Isidori, A., 1989, Nonlinear Control Systems, 2nd Edition, Springer-Verlag, Berlin.
8. Khatib, O., 1989, “Reduced Effective Inertia in Macro/Mini Manipulator Systems,” 1989 Japan-U.S.A. Symposium on Flexible Automation, pp, 329-334.
9. Lew, J. Y. and Book, W. J., 1993, “Hybrid Control of Flexible Manipulators with Multiple Contact,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 242-247.
10. Lewis, F. L., and Vandegrift, M., 1993, “Flexible Robot Arm Control By a Feedback Linearization/Singular Perturbation Approach,” Proc. of 1993 IEEE Int. Conf. on Robotics and Automation, pp. 729-736, Atlanta, Ga.
11. Lu, P., 1994, “Nonlinear Predictive Controllers for Continuous Systems,” Journal of Guidance, Control, and Dynamics, Vol. 17(3), pp. 553-560.
12. Madhavan, S. K, and Singh, S. N., 1993, “Variable Structure Trajectory Control of an Elastic Robptic Arm,” J. of Robotic Systems, Vol. 10(1), pp. 23-44.
13. Nijmeijer, H., and Van der Schaft, A., 1989, Nonlinear Dynamical Control Systems, Springer-Verlag, New York.
14. Siciliano, B., and Book, W. J., 1988, “A Singular Perturbation Approach to Control of Lightweight Flexible Manipulators,” The International Journal of Robotics Research, Vol. 7, No. 4, 79-88.
15. Singh, S. N., and Schy, A., 1986 “Elastic Robot Control: Nonlinear Inversion and Linear Stabilization,” IEEE Trans, on Aerospace and Electronic Systems, Vol. 22(4), pp. 340-348.
16. Uchiyama, M., Jiang, Z. H., and Hakomori, K., 1990, “Compensating control of a flexible robot arm,” Journal of Robotics and Mechatronics, Vol. 2(2), pp. 97-106.
17. Yim, W., 1994, “Inverse Cartesian Trajectory Control and Stabilization of a Three-Axis Flexible Manipulator,” Journal of Robotic Systems, Vol. 2(4), pp. 311-326.
18. Yoshikawa, T., Hosoda, K., Doi, T., and Murakami, H., 1993, “Quasi-' Static Trajectory Control of Flexible Manipulator by Macro-Micro Manipulator System,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 210-215.
19. Yoshikawa, T., Hosoda, K., Doi, T., and Murakami, H., 1994a, “Dynamic Trajectory Tracking Control of Flexible Manipulator by Macro-Micro Manipulator System,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1804-1809.
20. Yoshikawa, T., Hosoda, K., Harada, K., Matsumoto, A., and Murakami, H., 1994b, “Hybrid Position/Force Control of Flexible Manipulators by Macro-Micro Manipulator System,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2125-2130.