Contribution to the study of dynamics and dynamic control of robots interacting with dynamic environment

Robotica

Volumn 19, Issue 2, 2001, Pages 149-161

  Vukobratovic, Miomir ^a   Potkonjak, Veljko ^b   Matijevic, Vladimir ^a  

^a MIHAJLO PUPIN INSTITUTE   (Serbia)

^b Electrical Engineering Faculty   (Serbia)

Author keywords

Dynamic control; Dynamic environment; Robots control

Indexed keywords

COMPUTER SIMULATION; FORCE CONTROL; MATHEMATICAL MODELS; MOTION CONTROL; POSITION CONTROL;

DYNAMIC CONTROL; DYNAMIC ENVIRONMENT; ROBOTS CONTROL;

MOBILE ROBOTS;

EID: 0035270101     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/S0263574700003064     Document Type: Article

References (18)

1. M. Vukobratovic & V. Potkonjak, Applied Dynamics and CAD of Manipulation Robots (Springer-Verlag, 1985).
2. V. Potkonjak & M. Vukobratovic, "Dynamics of Manipulation Mechanisms with Constrained Gripper Motion - Part. 1", Journal of Robotic Systems 3(3), 321-334 (1986), and M. Vukobratovic, V. Potkonjak, "Constrained Gripper Motion in Assembly Manipulation - PART 2", Journal of Robotic Systems, 3(3), 335-347 (1986).
3. V. Potkonjak & M. Vukobratovic, "Dynamics of Manipulation Mechanisms with Constrained Gripper Motion - Part. 1", Journal of Robotic Systems 3(3), 321-334 (1986), and M. Vukobratovic, V. Potkonjak, "Constrained Gripper Motion in Assembly Manipulation - PART 2", Journal of Robotic Systems, 3(3), 335-347 (1986).
4. H. Krishnan & N.H. McClamroch, "A New Approach to Position and Contact Force Regulation in Constrained Robot Systems", Proc. IEEE Intl. Conf. on Robotics and Automation, Cincinnati, Ohio (1990) pp. 1344-1349.
5. S. Ahmad, "Constrained Motion (Force/Position) Control of Flexible Joint Robots", Proc. IEEE Conf. on Decision and Control, Brighton, England (1991) pp. 1397-1402.
6. J.K. Mills, "Stability and Control of Elastic-Joint Robotic Manipulators During Constrained Motion Tasks", IEEE. Trans. on Robotics and Automation 8, No. 1, 119-125 (1992).
7. B. Brogliato & R. Lozano-Leal, "Adaptive Force/Position Control of Constrained Manipulators with Flexible Joints", Proc. of American Control Conference, Boston (1992) pp. 968-969.
8. M. Vukobratovic, V. Matijevic & V. Potkonjak, "Control of Robots with Elastic Joints Interacting with Dynamic Environment", Journal of Intelligent and Robotic Systems 23, No. 1, 87-100(1998).
9. M.H. Raibert & J.J. Craig, "Hybrid Position/Force Control of Manipulators", Journal of Dynamic Systems, Measurements and Control 103, 126-133 [1981].
10. M.T. Mason, "Compliance and Force Control for Computer Controlled Manipulators", IEEE Trans. on Systems, Man and Cybernetics 11, No. 6, 418-432 (1981).
11. T. Yoshikava, T. Sugie & M. Tanaka, "Dynamic Hybrid Position/Force Control of Robot Manipulators - Controller Design and Experiment", IEEE Journal of Robotics and Automation 4, No. 6, 699-705 (1998).
12. A. DeLuca & C. Manes, "Hybrid Force/Position Control for Robots in Contact with Dynamic Environments", Proc. of Robot Control, SYROCO '91, Vienna (1991) pp. 377-382.
13. N. Hogan, "Impedance Control: An Approach to Manipulation", Part I-Part III, Journal of Dynamic Systems, Measurements and Control 107, 1-24 (1985).
14. H. Kazeroni, TB. Sheridan & P.K. Houpt, "Robust Compliant Motion for Manipulators, Part 1: The Fundamental Concepts of Compliant Motion, IEEE Journal of Robotics and Automation RA2, No. 2, 83-92 (1986).
15. M. Vukobratovic & Y. Ekalo, "Unified Approach to Control Law Synthesis for Robotic Manipulators in Contact with Dynamic Environment", in tutorial S5: Force and Contact Control in Robotic Systems, IEEE Int. Conf. on Robotics and Automation (1993) pp. 213-229; also published in Robotica 14, 31-39 (1996), under title: "New Approach to Control of Robotic Manipulators Interacting with Dynamic Environment".
16. M. Vukobratovic & Y. Ekalo, "Unified Approach to Control Law Synthesis for Robotic Manipulators in Contact with Dynamic Environment", in tutorial S5: Force and Contact Control in Robotic Systems, IEEE Int. Conf. on Robotics and Automation (1993) pp. 213-229; also published in Robotica 14, 31-39 (1996), under title: "New Approach to Control of Robotic Manipulators Interacting with Dynamic Environment".
17. M. Vukobratovic & Y. Ekalo, "New Approach to Control of Robotic Manipulators Interacting with Dynamic Environment", Robotica 14, Part 1, 31-39 (1996).
18. M. Vukobratovic, R. Stojic & Y. Ekalo, "Contribution to the Problem Solution of Position/Force Control of Manipulation Robots in Contact with Dynamic Environment - A Generalization", IFAC Automatica 34, No. 10, pp. ??, 1998.