Development of a planar macro-micro manipulator facility: From design through model validation

Canadian Aeronautics and Space Journal

Volumn 44, Issue 1, 1998, Pages 40-50

  Van Vliet, J ^a   Sharf, I ^a  

^a UNIVERSITY OF VICTORIA   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 0002522458     PISSN: 00082821     EISSN: None     Source Type: Journal    
DOI: None     Document Type: Article

References (17)

1. Book, W.J. and Lee, S.H. (1989). "Vibration Control of a Large Flexible Manipulator by a Small Robotic Arm," Proc. American Control Conference, pp. 1377-1380.
2. Borduas, H., Gossain, D., Kong, A., Quittner, E. and Shaffer, D. (Dec. 1989). "Concept Design of the Special Purpose Dextrous Manipulator for the Space Station Mobile Servicing System," Canadian Aeronautics and Space Journal, Vol. 35, No. 4, pp. 197-204.
3. Cannon, D.W. (May, 1996). "Command Generation and Inertial Damping Control of Flexible Macro-Micro Manipulators," Master's Thesis, Georgia Institute of Technology.
4. Cannon, D.W., Magee, D.P. and Book, W.J. (1996). "Experimental Study on Macro/Micro Manipulator Vibration Control," Proc. IEEE International Conference on Robotics and Automation, Minneapolis, MN, pp. 2549-2554.
5. Lee, S.H. and Book, W.J. (July 1990). "Robot Vibration Control Using Inertial Damping Forces", Proc. VIII CISM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators, Cracow, Poland.
6. Lew, J.Y. and Trudnowski, D.J. (1996). "Vibration Control of a Macro/Micro-Manipulator System," IEEE Control Systems, pp. 26-31.
7. Lew, J.Y., Trudnowski, D.J., Evans, M.S. and Bennett, David W. (1995). "Micro Manipulator Motion Control to Suppress Macro Manipulator Structural Vibrations," Proc. IEEE International Conference on Robotics and Automation, pp. 3116-3120.
8. Nahon, M., Damaren, C., Bergen, A. and Goncalves, J. (1995). "A Test Facility for Multi-armed Space-based Manipulators," Canadian Aeronautics and Space Journal, Vol. 41, No. 4, pp. 150-162.
9. Sharf, I. (1996). "Active Damping of a Large Flexible Manipulator with a Short-Reach Robot," ASME Journal of Dynamic Systems Measurement and Control, Vol. 118, pp. 704-713.
10. Stanway, J. (1996). "Validation of a Dynamics Simulation for a Structurally Flexible Manipulator," Master's Thesis, University of Victoria.
11. Stanway, J., Sharf, I. and Damaren, C. (1996). "Validation of a Dynamics Simulation for a Structurally Flexible Manipulator," Proc. IEEE International Conference on Robotics and Automation, Vol. 3, pp. 1959-1965.
12. Stanway, J., Wright, J., Van Vliet, J., Damaren, C., Nahon, M. and Sharf, I. (1996). "Dynamics Validation and Control with a Dual-Arm Flexible Manipulator Test-Bed," Proc. 9th CASI Conference on Astronautics, Ottawa, ON, pp. 72-82.
13. 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.
14. Torres, M.A., Dubowsky, S. and Pisoni, A.C. (1996). "Vibration Control of Deployment Structures' Long-Reach Space Manipulators: The P-PED Method," Proc. IEEE International Conference on Robotics and Automation, Minneapolis, MN, pp. 2498-2504.
15. 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," Proceedings of the American Control Conference, San Francisco, CA, pp. 2878-2879.
16. Wright, J. (1996). "Application of SPR Control to a Flexible Joint Manipulator," Master's Thesis, University of Victoria.
17. 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.