Effect of Motor Dynamics on Nonlinear Feedback Robot Arm Control

IEEE Transactions on Robotics and Automation

Volumn 7, Issue 1, 1991, Pages 114-122

  Tarn, Tzyh Jong ^a   Bejczy, Antal K ^b   Yun, Xiaoping ^c   Li, Zuofeng ^d  

^a WASHINGTON UNIVERSITY   (United States)

^b CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

^c UNIVERSITY OF PENNSYLVANIA   (United States)

^d WASHINGTON UNIVERSITY SCHOOL OF MEDICINE   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; CONTROL SYSTEMS, NONLINEAR; CONTROL, MECHANICAL VARIABLES--MOTION; ROBOTS--CONTROL;

FEEDBACK CONTROL; NONLINEAR FEEDBACK;

ROBOTS, INDUSTRIAL;

EID: 0026111024     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.68075     Document Type: Article

References (12)

1. R. M. Goor, “A new approach to minimum time robot control,” General Motors Research Labs., Warren, MI, Res. Pub. GMR-4869.
2. A. Guez, “Optimal control of robotic manipulators,” Ph.D. dissertation, Univ. of Florida, Gainsville, FL, 1983.
3. R. Beekman and K. Lee, “Nonlinear robotic control including drive motor interactions,” in Proc. Amer. Control Conf. GA), 1988, pp. 1333-1338.
4. M. Vukobratovic and V. Potkonjak, Dynamics of Manipulation Robots: Theory and Application. Berlin: Springer-Verlag, 1982.
5. T. J. Tarn, A. K. Bejczy, A. Isidori, and Y. L. Chen, “Nonlinear feedback in robot arm control,” in Proc. 23rd IEEE Conf. Robotics Automat. (Las Vegas, NV), 1984.
6. Y. L. Chen, “Nonlinear feedback and computer control of robot arms,” Ph.D. dissertation, Dept. of Systems Science and Math., Washington Univ., St. Louis, MO, Dec. 1984.
7. A. K. Bejczy, “Robot arm dynamics and control,” JPL, Tech. Memo. 33-669, 1974.
8. R. Paul, Robot Manipulator: Mathematics, Programming, and Control. Cambridge, MA: MIT Press, 1981.
9. X. Yun, “Coordinated control of two robot arms by feedback,” Ph.D. dissertation, Dept. of Systems Science and Math., Washington Univ., St. Louis, MO, Aug. 1987.
10. T. J. Tarn, A. K. Bejczy and X. Yun, “Third order dynamic equations and nonlinear feedback for PUMA 560 robot arm,” Dept. of Systems Science and Math., Washington Univ., St. Louis, MO, Robotics Lab. Rep. SSM-RL-85-04, Sept. 1985.
11. T. J. Tarn, A. K. Bejczy, and X. Yun, “Dynamic equations for PUMA 560 robot arm,” Dept. of Systems Science and Math., Washington Univ., St. Louis, MO, Robotics Lab. Rep. SSM-RL-85-02, 1985.
12. T. J. Tarn, A. K. Bejczy, and Z.-F. Li, “Computer simulation of nonlinear feedback for third order dynamic model of PUMA 560 with alternative pole assignment,” Dept. of Systems Science and Math., Washington Univ., St. Louis, MO, Robotics Lab. Rep. SSM-RL-88-09, Mar. 1988 (revised).