Motion control of non-fixed base robotic manipulators

Robotica

Volumn 17, Issue 2, 1999, Pages 143-157

  Carter, F M ^a   Cherchas, D B ^b  

^a International Submarine Engineering Ltd   (Canada)

^b UNIVERSITY OF BRITISH COLUMBIA   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; EQUATIONS OF MOTION; INVERSE KINEMATICS; MANIPULATORS; SPACECRAFT EQUIPMENT; THREE DIMENSIONAL; UNIVERSAL JOINTS;

JOINT TRAJECTORY GENERATOR; ROBOTIC MANIPULATORS;

MOTION CONTROL;

EID: 0032623915     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/S0263574799001186     Document Type: Article

References (19)

1. M.A. Bronez, M.M. Clarke, A. Quinn, "Requirements development for a free-flying robot-the 'ROBIN'," Proc. IEEE Int. Conf. on Robotics and Automation (1986).
2. R. French, B. Boyce, "Satellite servicing by teleoperators", J. Engin. Industry 107, 49-54 (1985).
3. S. Lee, G. Bekey and A.K. Bejczy, "Computer Control of space-borne teleoperators with sensory feedback", Proc. IEEE Int. Conf. on Robotics and Automation (1985).
4. R.W. Longman, R.E. Lindberg and M.F. Zedd, "Satellite-mounted robot manipulators-New kinematics and reaction moment compensation". Int. J. Robot. Res. 6(3), 87-103 (1987).
5. Z. Vafa and S. Dubowsky, "The Kinematics and Dynamics of Space Manipulators: The Virtual Manipulator Approach", Int. J. Robot. Res. 9(4), 3-21 (1990).
6. H.L. Alexander and R.H. Cannon, "Experiments on the control of a satellite manipulator", Proc. 1987 American Control Conf. (1987).
7. Y. Umetani and K. Yoshida, Experimental Study on Two Dimensional Free-flying Robot Satellite Model (NASA Space Telerobotics Workshop, Jet Propulsion Laboratory, 1989).
8. O. Egeland, "Task-space tracking with redundant manipulators", IEEE J. Robot. Automation RA-3(5), 471-475 (1987).
9. O. Khatib, "Augmented object and reduced effective inertia in robot systems", Proc. American Control Conference (1988). pp. 2140-2147.
10. J.K. Salisbury and J.D. Abramowitz, Design and control of a redundant mechanism for small motion. Proc. IEEE Int. Conf. on Robotics and Automation (1985) pp. 323-328.
11. O. Egeland and J.R. Sagli, "Coordination of motion in a spacecraft-manipulator system". Int. J. Robot. Res. 12(4), 366-379 (1993).
12. C. Fernandes, L. Gurvits and Z.X. Li, "Attitude Control of Space Platform/Manipulator System Using Internal Motion", IEEE Int. Conf. on Robotics and Automation 893-898 (1992).
13. E. Papadopoulos and S. Dubowsky, "Dynamic Singularities in Free-Floating Space Manipulators", ASME J. Dyn. Systems, Measurement and Control 115, 44-52 (1993).
14. F.M. Carter, "Motion Control of Non-Fixed Base Robotic Manipulators". M.A.Sc. Thesis (Mechanical Engineering, University of British Columbia, 1997).
15. C.H. An, C.G. Atkeson and J.M. Hollerbach, Model Based Control of a Robot Manipulator (MIT Press, Cambridge, Mass., 1988).
16. J.J. Craig, Introduction to Robotics (Addison-Wesley Publishing Company, Reading, Mass., 1986).
17. D.M. Dawson, "Uncertainties in the control of robot manipulators", Ph.D. Thesis (School of Electrical Engineering, Georgia Institute of Technology, 1990).
18. E. Papadopoulos, "On the Dynamics of Control of Space Manipulators". Ph.D. Thesis (Department of Mechanical Engineering, MIT, 1990).
19. Y. Xu, "The Measure of Dynamic Coupling of Space Robots", IEEE Int. Conf. on Robotics and Automation (1993) pp. 615-620.