On the trajectory planning of a planar elastic manipulator under gravity

IEEE Transactions on Robotics and Automation

Volumn 15, Issue 2, 1999, Pages 357-362

  Sarkar, Pritam Kumar ^a   Yamamoto, Motoji ^a   Mohri, Akira ^a  

^a KYUSHU UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; GRAVITATIONAL EFFECTS; KINEMATICS; MOTION PLANNING; PARAMETER ESTIMATION; TRACKING (POSITION);

FEEDFORWARD CONTROL; TRACKING ERRORS; TRAJECTORY PLANNING;

MANIPULATORS;

EID: 0032640175     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.760358     Document Type: Article

References (12)

1. H. Asada, Z.-D. Ma, and H. Tokumaru, "Inverse dynamics of flexible robot arms: Modeling and computation for trajectory control," ASME J. Dyn. Syst., Meas, Contr., vol. 112, pp. 177-185, 1990.
2. E. Bayo, P. Papadopoulos, J. Stubbe, and M. A. Serna, "Inverse dynamics and kinematics of multi-link elastic robots: An iterative frequency domain approach," Int. J. Robot. Res., vol. 8, no. 6, pp. 49-62, 1989.
3. R. H. Cannon and E. Schmitz, "Initial experiments on the end-point control of a flexible one-link robot," Int. J. Robot. Res., vol. 3, no. 3, pp. 62-75, 1984.
4. G. R. Eisler, R. D. Robinett, D. J. Segalman, and J. D. Feddema, "Approximate optimal trajectories for flexible-link manipulator slewing using recursive quadratic programming," ASME J. Dyn. Syst., Meas., Contr., vol. 115, pp. 405-410, 1993.
5. T. Kotnick, S. Yurkovich, and U. Ozgnner, "Acceleration feedback for control of a flexible manipulator arm," J. Robot. Syst., vol. 5, no. 3, pp. 405-410, 1988.
6. A. D. Luca, P. Lucibello, and G. Ulivi, "Inversion techniques for trajectory control of flexible arm," J. Robot. Syst., vol. 6, no. 4, pp. 325-344, 1989.
7. A. D. Luca and S. Panzieri, "An iterative scheme for learning gravity compensation in flexible robot arms," Automatica, vol. 30, no. 6, pp. 993-1002, 1994.
8. _, "End-effector regulation of robots with elastic elements by an iterative scheme," Int. J. Adaptive Contr. Sgnal Process., vol. 10, nos. 4/5, pp. 379-393, 1996.
9. S. K. Madhavan and S. N. Singh, "Inverse trajectory control and zero dynamic sensitivity of an elastic manipulator," Int. J. Robot. Automat., vol. 6, no. 4, pp. 179-192, 1991.
10. P. K. Sarkar, M. Yamamoto, and A. Mohri, "Significance of spline curve in path planning of flexible manipulator," in Proc. IEEE Int. Conf. Robot. Automat., 1997, pp. 2535-2540.
11. R. J. Theodore and A. Ghosal, "Comparison of the assumed modes and finite element models for flexible multilink manipulators," Int. J. Robot. Res., vol. 14, no. 2, pp. 91-111, 1995.
12. P. B. Usoro, R. Nadira, and S. S. Mahil, "A finite element/Lagrange approach to modeling lightweight flexible manipulators," ASME J. Dyn. Syst., Meas., Contr., vol. 108, pp. 198-205, 1986.