Task-specific optimal simultaneous kinematic, dynamic, and control design of high-performance robotic systems

IEEE/ASME Transactions on Mechatronics

Volumn 4, Issue 4, 1999, Pages 387-395

  Rastegar, Jahangir S ^a   Liu, Lidong ^a   Yin, Dan ^a  

^a Stony Brook University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL SYSTEM SYNTHESIS; HARMONIC GENERATION; KINEMATICS; MANIPULATORS; MECHATRONICS; OPTIMAL CONTROL SYSTEMS; OPTIMIZATION;

HARMONICS; OPTIMALITY CRITERION; TRAJECTORY PATTERN METHOD;

ROBOTICS;

EID: 0033338475     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/3516.809517     Document Type: Article

References (28)

1. P. E. Gaultier and W. L. Cleghorn, "Modeling of the flexible manipulator dynamics: A literature survey," in Proc. 1st Nat. Applied Mechanisms and Robotics Conf.. Cincinnati, OH, 1989.
2. J. Rastegar and Q. Tu, "The effects of the manipulator type on the vibrational excitation during motion," Mechanism Mach. Theory, vol. 32, no. 2, pp. 221-234, 1997.
3. W. J. Book, "Controlled motion in an elastic world," ASME J. Dynam. Syst., Meas., Contr., vol. 115, no. 2, pp. 252-261, 1993.
4. D. S. Bodden and J. L. Junkins, "Eigenvalue optimization algorithms for structure/controller design iterations," J. Guidance, Contr., Dynam., vol. 8, no. 6, pp. 697-706, 1985.
5. A. L. Hale, R. J. Lisowski, and W. E. Dahl, "Optimal simultaneous structural and control design of maneuvering spacecrafts," J. Guidance, Contr., Dynam., vol. 8, no. 1, pp. 86-93, 1985.
6. D. F. Miller and J. Shim, "Gradient-based combined structural and control optimization," J. Guidance, Contr., Dynam., vol. 10, no. 3, pp. 291-298, 1987.
7. W. K. Belvin and K. C. Park, "Structural tailoring and feedback control synthesis: An interdisciplinary approach," J. Guidance, Contr., Dynam., vol. 13, no. 3, pp. 424-429, 1990.
8. A. Pil and H. Asada, "Rapid recursive structure re-design for improved dynamic performance of robot systems," in Proc. 1993 ASME Winter Annu. Meeting, Symp. Motion Systems, New Orleans, LA, 1993, pp. 1-13.
9. "Rapid recursive experimental approach to structure/control redesign," in Proc. 1995 ASME Design Technical Conf., Boston, MA, 1995, vol. 82, pp. 317-322.
10. S. Rai and H. Asada, "Integrated structure/control design of high speed flexible robots based on time optimal control," in Proc. 1993 ASME Winter Annu. Meeting, Symp. Motion Systems, New Orleans, LA, 1993, pp. 199-209.
11. J. H. Park and H. Asada, "Concurrent design optimization of mechanical structure and control for high speed robots," ASME J. Dynam. Syst., Meas., Contr., vol. 116, no. 3, pp. 344-356, 1994
12. J. Rastegar and B. Fardanesh, "Trajectory pattern specific inverse dynamics formulation of robot manipulators and its applications," in Proc. ASME Mechanisms Conf.. Chicago, IL, 1990, pp. 103-109.
13. B. Fardanesh and J. Rastegar, "A new model based tracking controller for robot manipulators using the trajectory pattern inverse dynamics," IEEE Trans. Robot. Automat., vol. 8, pp. 279-285, Apr. 1992.
14. J. Rastegar, Q. Tu, N. Coleman, and M. Mattice, "Experimental implementation of trajectory pattern inverse dynamics model based controller for a flexible structure," in Proc. 1992 American Control Conf., Chicago, IL, 1993, pp. 2784-2788.
15. J. Rastegar, Q. Tu, and M. Mattice, "Trajectory Pattern Method Applied to a Nonlinear Flexible Pointing System," in Proc. 1993 American Control Conf., San Francisco, CA, 1993, pp. 1622-1626.
16. J. Rastegar, F. Khorrami, and Z. Retchkiman, "Inversion of nonlinear systems via trajectory pattern method," in Proc. 33rd Conf. Decision and Control, Orlando, FL, 1994, pp. 2382-2387.
17. Q. Tu and J. Rastegar, "Manipulator trajectory synthesis for minimal vibrational excitation due to payload," Trans. Can. Soc. Mech. Eng., vol. 17, no. 4A, pp. 557-566, 1993.
18. "On the inherent characteristics of the dynamics of robot manipulators," Mechanisms Mach. Theory, vol. 34, no. 2, pp. 171-191, 1999.
19. Q. Tu, J. Rastegar, and J. R. Singh, "Trajectory synthesis and inverse dynamics model formulation and control of tip motion of a high performance flexible positioning system," Mechanism Mach. Theory, vol. 29, no. 7, pp. 959-968, 1994.
20. M. Tai and J. Rastegar, "Trajectory pattern based simultaneous kinematic and dynamic optimal design of high speed manipulators," in Proc. 1996 ASME Mechanisms Conf., Irvine, CA, 1996, pp. 519-527.
21. J. Rastegar and Q. Tu, "On the effects of the operating speed on the dynamic behavior of manipulators with rigid links," in Proc. 1992 ASME Mechanisms Conf., 1992, pp. 103-109.
22. Q. Tu and J. Rastegar, "Trajectory pattern method based trajectory synthesis and inverse dynamics formulation for minimal vibrational excitation for flexible structures," in Proc. 1996 ASME Mechanisms Conf., Irvine, CA, 1996, pp. 413-421.
23. Q. J. Ge and J. Rastegar, "A special class of C3 rational quartic spline curves for two-harmonic trajectory synthesis," in Proc. 9th World Congr. Theory of Machines and Mechanisms, Milan, Italy, 1995, pp. 281-290.
24. "Low harmonic rational Bezier and spline curves for joint trajectory synthesis with actuator dynamic response limitations," in Proc. IEEE Int. Conf. Robotics and Automation, 1995, pp. 2433-2438.
25. J. Q. Ge and J. Rastegar, "Bernstein-Bezier harmonics and their applications to robot trajectory synthesis with minimal vibrational excitation," ASMEJ. Mech. Des., vol. 118, no. 4, pp. 509-514, 1996.
26. J. Q. Ge, L. Srinivasan, and J. Rastegar, "Low-harmonic rational Bezier curves for trajectory generation of high-speed machinery," Comput. Aided Geometric Des., vol. 14, no. 3, pp. 251-271, Apr. 1997.
27. Q. Tu and J. Rastegar, "Trajectory synthesis for minimum attainable time for point to point motions of a system with a flexible joint," in Proc. 1992 CSME Forum, Montreal, P.Q., Canada, 1992, pp. 516-521.
28. G. V. Reklaitis, A. Ravindran, and K. M. Ragsdell, Engineering Optimization. New York: Wiley, 1983.