Reaction null-space control of flexible structure mounted manipulator systems

IEEE Transactions on Robotics and Automation

Volumn 15, Issue 6, 1999, Pages 1011-1023

  Nenchev, Dragomir N ^a,b   Yoshida, Kazuya ^a,c   Vichitkulsawat, Prasert ^d   Uchiyama, Masaru ^a,c  

^a IEEE

^b HIROSAKI UNIVERSITY   (Japan)

^c TOHOKU UNIVERSITY   (Japan)

^d T Napa A Muang   (Thailand)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; END EFFECTORS; FLEXIBLE STRUCTURES; MOTION CONTROL; VIBRATION CONTROL;

FLEXIBLE STRUCTURE MOUNTED MANIPULATOR SYSTEM; REACTION NULL SPACE CONTROL;

MANIPULATORS;

EID: 0033346517     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.817666     Document Type: Article

References (27)

1. A. Sharon and D. Hardt, "Enhancement of robot accuracy using endpoint feedback and a macro-micro manipulator system," in Proc. ACC, San Diego, CA, 1984, pp. 1836-1842.
2. J. F. Jansen et al., "Long-reach manipulation for waste storage tank remediation," ASME J., vol. 31, pp. 67-73, 1991.
3. D.-S. Kwon et al., "Input shaping filter methods for the control of structurally flexible, long-reach manipulators," in Proc. IEEE Int. Conf. Robot. Automat., San Diego, CA, 1994, pp. 3259-3264.
4. M. A. Torres and S. Dubowsky, "Path-planning in elastically constrained space manipulator systems," in Proc. IEEE Int. Conf. Robot. Automat., Atlanta, GA, 1993, pp. 812-817.
5. C. Vallancourt and C. M. Gosselin, "Compensating for the structural flexibility of the SSRMS with the SPDM," in Proc. 2nd Workshop Robot. Space, Canadian Space Agency, Montreal, PQ, Canada, July 1994.
6. T. Yoshikawa et al., "Quasistatic trajectory tracking control of flexible manipulator by macro-micro manipulator system," in Proc. 1993 IEEE Int. Conf. Robot. Automat., Atlanta, GA, May 1993, pp. 210-215.
7. _, "Dynamic trajectory tracking control of flexible manipulator by macro-micro manipulator system," in Proc. 1994 IEEE Int. Conf. Robot. Automat., San Diego, CA, May 1994, pp. 1804-1809.
8. W. Yim and S. N. Singh, "Nonlinear inverse and predictive end point trajectory control of flexible macro-micro manipulators," Trans. ASME, J. Dyn. Syst., Meas. Contr., vol. 119, pp. 412-420, Sept. 1997.
9. S. H. Lee and W. J. Book, "Robot vibration control using inertial damping forces," in Proc. 8th CISM-IFToMM Symp. RoManSy 8, Cracow, Poland, 1990, pp. 252-259.
10. M. A. Torres, S. Dubowsky, and A. C. Pisoni, "Vibration control of deployment structures' long-reach manipulators: The P-PED method," in Proc. 1996 IEEE Int. Conf. Robot. Automat., Minneapolis, MN, Apr. 1996, pp. 2498-2504.
11. J. Y. Lew and D. J. Trudnowski, "Vibration control of a micro/macro manipulator system," IEEE Contr. Syst. Mag., vol. 16, no. 1, pp. 26-31, Feb. 1996.
12. I. Sharf, "Active damping of a large flexible manipulator with a short-reach robot," Trans. ASME, J. Dyn. Syst., Meas. Contr., vol. 118, pp. 704-713, Dec. 1996.
13. D. W. Cannon et al., "Experimental study on micro/macro manipulator vibration control," in Proc. IEEE Int. Conf. Robot. Automat., Minneapolis, MN, 1996, pp. 2549-2554.
14. R. H. Cannon, Jr. 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.
15. C. Mavroidis, S. Dubowsky, and V. Raju, "End-point control of long reach manipulator systems," in Proc. 9th World Congr. IFToMM, Milano, Italy, 1995, pp. 1740-1744.
16. M. L. Hanson and R. H. Tolson, "Reducing flexible base vibrations through local redundancy resolution," J. Robot. Syst., vol. 12, no. 11, pp. 767-779, 1995.
17. T. Arai et al., "Proposal of dynamic redundancy in robot control," in Proc. IEEE/RSJ Int. Workshop Intell. Robots Syst. (IROS'92), Raleigh, NC, 1992, pp. 1921-1926.
18. D. N. Nenchev, K. Yoshida, and Y. Umetani, "Analysis, design and control of free-flying space robots using fixed-attitude-restricted Jacobian matrix," Robotics Research: The Fifth International Symposium, H. Miura and S. Arimoto, Eds. Cambridge, MA: MIT Press, 1990, pp. 251-258.
19. D. N. Nenchev, Y. Umetani, and K. Yoshida, "Analysis of a redundant free-flying spacecraft/manipulator system," IEEE Trans. Robot. Automat., vol. 8, pp. 1-6, Feb. 1992.
20. D. N. Nenchev, "A controller for a redundant free-flying space robot with spacecraft attitude/manipulator motion coordination," in Proc. 1993 IEEE/RSJ Int. Conf. Intell. Robots Syst. (IROS'93), Yokohama, Japan, 1993, pp. 2108-2114.
21. A. Konno et al., "Configuration-dependent vibration controllability of flexible-link manipulators," Int. J. Robot. Res, vol. 16, no. 4, pp. 567-576, 1997.
22. K. Yoshida, D. N. Nenchev, and M. Uchiyama, "Moving base robotics and reaction management control," Robotics Research: The Seventh International Symposium, G. Giralt and G. Hirzinger, Eds. New York: Springer-Verlag, 1996, pp. 101-109.
23. K. Yoshida and D. N. Nenchev, "A general formulation of underactuated manipulator systems," in Preprints 8th Int. Symp. Robotics Research, Hayama, Japan, 1997, pp. 72-79.
24. D. N. Nenchev, K. Yoshida, and M. Uchiyama, "Reaction null-space based control of flexible structure mounted manipulating systems," in Proc. 35th IEEE CDC, Kobe, Japan, 1996, pp. 4118-4123.
25. A. Isidori, Nonlinear Control Systems, 3rd ed. New York: Springer-Verlag, 1995.
26. D. N. Nenchev, "Restricted Jacobian matrices of redundant manipulators in constrained motion tasks," Int. J. Robot. Res., vol. 11, no. 6, pp. 584-597, 1993.
27. A. Gouo et al., "Dual-arm long-reach manipulators: Noncontact motion control startegies," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst. (IROS'98), Victoria, B.C., Canada, Oct. 1998, pp. 449-454.