Gradient-descent based trajectory planning for regulation of a two-link flexible robotic arm

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Volumn 2, Issue , 2001, Pages 948-952

  Oke, G ^a   Istefanopulos, Y ^a  

^a BOGAZICI UNIVERSITY   (Turkey)

Author keywords

Flexible manipulators; Fuzzy control; Gradient descent; Trajectory planning

Indexed keywords

COMPUTER SIMULATION; FLEXIBLE MANIPULATORS; FUZZY CONTROL; FUZZY SETS; GRADIENT METHODS; INVERSE KINEMATICS; MOTION PLANNING; POSITION CONTROL;

TRAJECTORY PLANNING;

ROBOTIC ARMS;

EID: 0034872585     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (8)

1. Closed-form dynamic model of planar multilink leightweight robots
2. Regulation of flexible arms under gravity
3. Inverse dynamics of flexible robot arms: Modelling and computation for trajectory control
4. Inverse dynamics and kinematics of multi-link elastic robots: An iterative frequency approach
5. On the trajectory planning of a planar elastic manipulator under gravity
6. A contribution to the analysis of flexible link systems