A new feedback method for dynamic control of manipulators

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

Volumn 103, Issue 2, 1981, Pages 119-125

  Takegaki, Morikazu ^a   Arimoto, Suguru ^a  

^a OSAKA UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

INDUSTRIAL ROBOTS - CONTROL;

MATERIALS HANDLING;

EID: 0019573242     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.3139651     Document Type: Article

References (12)

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2. Takase, K., Generalized Decomposition and Control of a Motion of a Manipulator, Trans. Society of Instrument and Control Engrs., Vol. 12-3, 1976, pp. 300-306. (in Japanese)
3. Freunde, E., and Syrbe, M., Control of Industrial Robots by Means of Microprocessors, Lecture Note in Control and Information Sciences, Vol. 2, Springer-Verlag, Berlin, 1976, pp. 167-175.
4. Book, J. W., Maizza-Neto, O., and Whitney, D. E., Feedback Control of Two Beam, Two Joint System with Distributed Flexibility, ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 97, Dec. 1975, pp. 424-431.
5. Whitney, D. E., The Mathematics of Coordinated Control of Prosthetic Arms and Manipulators, ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 12, 1972, pp. 303-309.
6. Greenwood, D. T., Classical Dynamics, Prentice-Hall 1977.
7. La Salle, J., and Lefschetz, S., Stability by Liapunov’s Direct Method with Applications, Academic Press. 1961.
8. Letov, A. M., Stability Theory, System Theory, ed. by Zadeh and Polack, Tata McGraw-Hill, New Delhi, 1969, pp. 347-384.
9. Spivak, M., Calculus on Manifolds, W.A. Benjamin, New York, 1965.
10. Oziraner, A. S., and Rumiantsev, V. V., The Method of Liapunov Functions in the Stability Problem for Motion with Respect to Part of the Variables, PMM, Vol. 36-2, 1972, pp. 364-384.
11. Nevins, J. L., and Whitney, D. E., The Force Vector Assembler Concept, First CISM-IFToMM Symp. On the Theory and Practice of Robots and Manipulators, Springer-Verlag, Wien-New York, Sept. 1973, pp. 273-288.
12. Hemami, H., and Wyman, B. F., Modeling and Control of Constrained Dynamic Systems with Application to Biped Locomotion in Frontal Plane, IEEE. Trans, on Automatic Control, AC-24-4, 1979, pp. 526-535