Parallel-coupled micro-macro actuators

International Journal of Robotics Research

Volumn 17, Issue 7, 1998, Pages 773-791

  Morrell, John B ^a   Salisbury, J Kenneth ^a  

^a MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL; LOADS (FORCES); ROBOTICS; THEORY; TRANSMISSIONS;

PARALLEL-COUPLED MICRO-MACRO ACTUATORS;

ACTUATORS;

EID: 0032121057     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/027836499801700707     Document Type: Article

References (35)

1. An, C. H. 1986. Trajectory and force control of a direct drive arm. Ph.D. thesis, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology.
2. Asada, H. K. K., and Takeyama, I. 1983. Control of a direct-drive arm. Trans. ASME 105:136-142.
3. Cannon, R. H., and Rosenthal, D. E. 1984. Experiments in control of flexible structures with noncolocated sensors and actuators. J. Guidance Control 7(5).
4. Colgate, J. E., and Brown, J. M. 1994. Factors affecting the z-width of a haptic display. Proc. IEEE Int. Conf. on Robot. and Automat. Los Alamitos, CA: IEEE, pp. 3205-3210.
5. Colgate, J. E., and Hogan, N. 1989. An analysis of contact instability in terms of passive physical equivalents. Proc. IEEE Int. Conf. on Robot. and Automat., pp. 404-409.
6. Eberman, B. 1995. Contact sensing: A sequential decision approach to sensing manipulation contact features. Technical Report 1543, MIT Artificial Intelligence Laboratory.
7. Eppinger, S. 1988. Modeling robot performance for endpoint force control. Ph.D. thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology.
8. Eppinger, S. D., and Seering, W. P. 1987. Understanding bandwidth limitations in robot force control. Proc. IEEE Int. Conf. on Robot. and Automat.
9. Goldenberg, A. A. 1992. Analysis of force control based on linear models. Proc. IEEE Int. Conf. on Robot. and Automat.
10. Hay ward, V. 1995. Toward a seven axis haptic device. Int. Conf. on Intell. Robots and Sys.
11. Hogan, N. 1985. Impedance control: An approach to manipulation: Part 1 - Theory. ASME J. Dyn. Sys. Meas. Control 107(1).
12. Hyde, J. M., and Cutkosky, M. R. 1993. Contact transition control: An experimental study. Proc. IEEE Int. Conf. on Robot. and Automat.
13. Kazerooni, H. 1985. A robust design method for impedence control of constrained dynamic systems. Ph.D thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology.
14. Khatib, O. 1990. Reduced effective inertia in macro/mini-manipulator systems. Robotics Research 5, eds. H. Miura and S. Arimoto. Cambridge, MA: MIT Press, pp. 279-284.
15. Maclean, K. E. 1996. Emulation of haptic feedback for manual interfaces. Ph.D. thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology.
16. Massie, T., and Salisbury, J. K. 1994 (Chicago, IL). The phantom interface: A device for probing virtual environments. Proceedings of the ASME Winter Meeting, Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Sytems.
17. Morrell, J. B. 1996. Parallel coupled micro-macro actuators. Ph.D. thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology.
18. Morrell, J. B., and Salisbury, J. K. 1995. In pursuit of dynamic range: Using parallel-coupled actuators to overcome hardware limitations. Experimental Robotics IV, Fourth Int. Symp.
19. Park, J.-H. 1992. Integrated structure/control design of non-rigid robot arms for high speed manipulation. Ph.D. thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology.
20. Pratt, G. A. 1994. Personal communication.
21. Pratt, G. A., and Williamson, M. M. 1995. Series elastic actuators. Int. Conf. on Intell. Robots and Sys.
22. Salcudean, S., and Wong, N. 1993 (Kyoto, Japan). Course-fine motion coordination and control of a teleoperation system with magnetically levitated master and wrist. Experimental Robotics III, Third Int. Symp., pp. 406-421.
23. Salisbury, J. K. 1980 (Albuquerque, NM). Active stiffness control of a manipulator in Cartesian coordinates. 19th IEEE Conf. on Decision and Control. Los Alamitos, CA: IEEE.
24. Salisbury, J. K., Eberman, B., Levin, M., and Townsend, W. 1989. The design and control of an experimental whole-arm manipulator. In Rob. Res.: The Fourth Int. Symposium.
25. Sharon, A., and Hardt, D. E. 1984. Enhancement of robot accuracy using endpoint feedback and a macro-micro manipulator system. Proc. of the American Control Conference.
26. Townsend, W. T. 1988. The effect of transmission design on the performance of force-controlled manipulators. Ph.D. thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology.
27. Trevelyan, J. 1993 (Kyoto, Japan). Robot force control without stability problems. Experimental Robotics III, Third Int. Symp., pp. 132-142.
28. Volpe, R., and Khosla, P. 1992. An experimental evaluation and comparison of explicit force control strategies for robotic manipulators. Proc. IEEE Int. Conf. on Robot. and Automat. Los Alamitos, CA: IEEE, pp. 1387-1393.
29. Volpe, R., and Khosla, P. 1993. A theoretical and experimental investigation of impact control for manipulators. Int. J. Robot. Res. 12(4):361-365.
30. Wada, H., Kosuge, K., Fukada, T., and Watanabe, K. 1994. Design of force controller based on frequency characteristics. Proc. IEEE Int. Conf. on Robot. and Automat. Los Alamitos, CA: IEEE, pp. 610-615.
31. Whitney, D. E. 1982. Quasi-static assembly of compliantly supported rigid parts. ASME J. Dyn. Sys. Meas. Control 65-104.
32. Williamson, M. 1995. Series elastic actuators. Master's thesis, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology.
33. Xu, Y., Hollerbach, J. M., and Ma, D. 1994. Force and contact transient control using nonlinear PD control. Proc. IEEE Int. Conf. on Robot. and Automat. Los Alamitos, CA: IEEE, pp. 924-930.
34. Yoshikawa, T., Hosoda, K., Doi, T., and Murakami, H. 1994. Quasi-static trajectory tracking control of flexible manipulator by macro-micro manipulator system. Proc. IEEE Int. Conf. on Robot. and Automat. Los Alamitos, CA: IEEE, pp. 210-215.
35. Youcef-Toumi, K., and Gutz, D. A. 1989. Impact and force control. Proc. IEEE Int. Conf. on Robot. and Automat. Los Alamitos, CA: IEEE, pp. 410-416.