On-line computational scheme for mechanical manipulators

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

Volumn 102, Issue 2, 1980, Pages 69-76

  Luh, J Y S ^a   Walker, M W ^a   Paul, R P C ^a  

^a PURDUE UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

INDUSTRIAL ROBOTS;

MATERIALS HANDLING;

EID: 0019029798     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.3149599     Document Type: Article

References (19)

1. Whitney, D. E., Resolved Motion Rate Control of Manipulators and Human Prostheses, IEEE Transactions on Man-Machine Systems, Vol. MMS-10, No. 2, June 1969, pp. 47-53.
2. Whitney, D. E., “The Mathematics of Coordinated Control of Prosthetic Arms and Manipulators, ASME Journal of Dynamic Systems, Measurement, and Control, Dec. 1972, pp. 303-309.
3. Paul, R. C, Modeling, Trajectory Calculation and Servoing of a Computer Controlled Arm, A.I. Memo 177, Stanford Artificial Intelligence Laboratory, Stanford University, Sept. 1972.
4. Markiewicz, B. R., Analysis of the Computer Torque Drive Method and Comparison with Conventional Position Servo for a Computer-Controlled Manipulator, Technical Memorandum 33-601, Jet Propulsion Laboratory, Mar. 1973.
5. Bejczy, A. K., Robot Arm Dynamics and Control, Technical Memorandum 33-669, Jet Propulsion Laboratory, Feb, 1974.
6. Luh, J. Y. S., Walker, M. W., and Paul, R. P. C., Resolved-Acceleration Control of Mechanical Manipulators, IEEE Transactions on Automatic Control, Vol. 25, No. 3, June 1980, pp. 468-474.
7. Hemami, H., Jaswa, V. C., and McGhee, R. B., Some Alternative Formulations of Manipulator Dynamics for Computer Simulation Studies, Proceedings of 13th Allerton Conference on Circuit and System Theory, University of Illinois, October 1975, pp. 124-140.
8. Beer, F. P., and Johnston, E. R., Vector Mechanics for Engineers: Statics and Dynamics, McGraw-Hill, 1962, p. 108.
9. Uicker, J. J., On the Dynamic Analysis of Spatial Linkages Using 4 x 4 Matrices, Ph.D. thesis, Northwestern University, 1965.
10. Lewis, R. A., Autonomous Manipulation on a Robot: Summary of Manipulator Software Functions, Technical Memorandum 33-679, Jet Propulsion Laboratory, Mar. 1974.
11. Raibert, M. H., and Horn, B. K. P., Manipulator Control Using the Configuration Space Method, The Industrial Robot, Vol. 5, No. 2, June 1978, pp.69-73.
12. Williams, R. J., and Seireg, A., Interactive Modeling and Analysis of Open or Closed Loop Dynamic Systems with Redundant Actuators, ASME Journal of Mechanical Design, Vol. 101, No. 3, July 1979, pp. 407-416.
13. Goldstein, H., Classical Mechanics, Addison-Wesley, 1959, pp. 14-22.
14. Hughes, P. C., Dynamics of a Flexible Manipulator Arm for the Space Shuttle, Paper 28, Amer. Astronautical Soc. and Amer. Inst, of Aeronautics and Astrodynamics Specialist Conference, Jackson Hole, Wyoming, Sept. 7-9, 1977.
15. Ho, J. Y. L., Direct Path Method for Flexible Multibody Spacecraft Dynamics, Journal of Spacecraft and Rockets (AIAA), Vol. 14, No. 2, Feb 1977, pp.102-110.
16. Aristova, M. V., Ignatiev, M. B., and Prokhorov, V. M, Algorithmic System for Robot’s Motion Simulation, Proceedings of Symposium on Theory and Practice of Robots and Manipulators, Warsaw, Poland, 1976.
17. Orin, D. E., McGhee, R. B., Vukobratovic M., and Hartoch, G., Kinematic and Kinetic Analysis of Open-Chain Linkages Utilizing NewtonEuler Methods, Mathematical Biosciences, Vol. 43, No. 1/2, Feb. 1979, pp. 107-130.
18. Symon, K. R., Mechanics, 3rdaddition, Addison-Wesley, 1971, pp. 271-281.
19. Denavit, J., and Hartenberg, R. S., A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices, ASME Journal of Applied Mechanics, June 1955, pp. 215-221.