Force and motion trajectory tracking control of flexible-joint robots

Mechanism and Machine Theory

Volumn 35, Issue 3, 2000, Pages 363-378

  Ider, S Kemal ^a  

^a MIDDLE EAST TECHNICAL UNIVERSITY   (Turkey)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; DAMPING; EQUATIONS OF MOTION; FORCE CONTROL; MATHEMATICAL MODELS; MECHANISMS; MOTION CONTROL; TORQUE;

FLEXIBLE JOINT ROBOTS; INVERSE DYNAMICS CONTROL;

END EFFECTORS;

EID: 0034159068     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0094-114X(99)00022-1     Document Type: Article

References (14)

1. Rivin E.I. Compliance breakdown for robot structures. Proc. Symp. Engineering Appl. Mechanics, Toronto :1984;55-67.
2. Eppinger S.D., Seering W.P. Three dynamic problems in robot force control. Proc. IEEE Conf. on Robotics and, Automation, Scottsdale, AZ :1989;392-397.
3. Spong M.W. Modeling and control of elastic joint robots. ASME J. Dynamic Systems Measurement and Control. 109:1987;310-319.
4. Forrest-Barlach M.G., Babcock S.M. Inverse dynamics task control of a compliant manipulator. IEEE J. Robotics Automat. 3:1987;75-83.
5. De Luca A. Dynamic control of robots with joint elasticity. Proc. IEEE Conf. Robotics Automat., Philadelphia :1988;152-158.
6. Jankowski K.P., Van Brussel H. An approach to discrete inverse dynamics control of flexible-joint robots. IEEE J. Robotics Automat. 8:1992;651-658.
7. Spong M.W. An integral manifold approach to the feedback control of flexible joint robots. IEEE J. Robotics Automat. 3:1987;291-300.
8. Gogate S., Lin Y. Formulation and control of robots with link and joint flexibility. Robotica. 11:1993;273-282.
9. Khorasani K. Adaptive control of flexible-joint robots. IEEE J. Robotics Automat. 8:1992;250-267.
10. Lian K., Jean J., Fu L.C. Adaptive force control of single-link mechanism. IEEE J. Robotics Automat. 7:1991;540-545.
11. Jankowski K.P., ElMaraghy H.A. Inverse dynamics and feedforward controllers for high precision position/force tracking of flexible joint robots. Robotica. 12:1994;227-241.
12. Hu Y.R., Goldenberg A.A. An approach to motion and force control of coordinated robot arms in the presence of joint flexibility. ASME J. Dynamic Systems, Measurement and Control. 116:1994;326-335.
13. Ider S.K. Inverse dynamics of redundant manipulators using a minimum number of control forces. J. Robotic Systems. 12:1995;569-579.
14. Gear C.W., Petzold L.R. ODE methods for the solution of differential/algebraic systems. SIAM J. Numer. Anal. 21:1984;716-728.